Hi, xrdp developer and FreeBSD package maintainer here. As far as I looked xrdp & xorg package, xorgxrdp package is the issue. Update xorgxrdp to the latest 0.9.19 and build against xrdp 0.9.21.1. The it should work. When updating xrdp package in furure, to 0.9.23 for example, also update xorgxrdp to the latest version if available. Otherwise rebuild xorgxrdp against updated xrdp version at least.
$ dpkg -l| grep xrdp ii xorgxrdp 1:0.2.12-1 amd64 Remote Desktop Protocol (RDP) modules for X.org ii xrdp 0.9.21.1-1~deb11u1 amd64 Remote Desktop Protocol (RDP) server -- meta <m...@freebsd.org>