Okay, I got the Linux 5.11 version compiling on the 4.9 kernel (5.15 version was too new).

This is what I get (not sure if I'm running it correctly):

$ sudo ./timestamp eth2 SOF_TIMESTAMPING_RX_HARDWARE PTPV2 SOF_TIMESTAMPING_TX_HARDWARE IP_MULTICAST_LOOP SOF_TIMESTAMPING_RAW_HARDWARE SO_TIMESTAMPNS

SIOCSHWTSTAMP: tx_type 1 requested, got 1; rx_filter 7 requested, got 12
SO_TIMESTAMP 0
SO_TIMESTAMPNS 1
SO_TIMESTAMPING 69
1641489139.531700: select 468300us
1641489140.000559: select returned: 0, success
1641489140.001334: sent 44 bytes
1641489140.001415: select 4998585us
1641489140.001471: select returned: 1, success
ready for reading
1641489140.001559: received regular data, 44 bytes from 192.168.88.93, 128 bytes control messages
   cmsg len 32: SOL_SOCKET SO_TIMESTAMPNS 1641489140.000892168
   cmsg len 64: SOL_SOCKET SO_TIMESTAMPING SW 0.000000000 HW raw 78435.216557216
   cmsg len 28: IPPROTO_IP IP_PKTINFO interface index 5
1641489140.002104: received error data, 86 bytes from 192.168.88.93, 144 bytes control messages
   cmsg len 32: SOL_SOCKET SO_TIMESTAMPNS 1641489140.002095905
   cmsg len 64: SOL_SOCKET SO_TIMESTAMPING SW 0.000000000 HW raw 78435.216557216    cmsg len 48: IPPROTO_IP IP_RECVERR ee_errno 'No message of desired type' ee_origin 4 => bounced packet => GOT OUR DATA BACK (HURRAY!)
1641489140.002271: select 4997729us
1641489145.005062: select returned: 0, success
1641489145.005317: sent 44 bytes
1641489145.005975: select 4994025us
1641489145.006277: select returned: 1, success
ready for reading
1641489145.006809: received regular data, 44 bytes from 192.168.88.93, 128 bytes control messages
   cmsg len 32: SOL_SOCKET SO_TIMESTAMPNS 1641489145.005170451
   cmsg len 64: SOL_SOCKET SO_TIMESTAMPING SW 0.000000000 HW raw 78440.221013888
   cmsg len 28: IPPROTO_IP IP_PKTINFO interface index 5
1641489145.007829: received error data, 86 bytes from 192.168.88.93, 144 bytes control messages
   cmsg len 32: SOL_SOCKET SO_TIMESTAMPNS 1641489145.007821168
   cmsg len 64: SOL_SOCKET SO_TIMESTAMPING SW 0.000000000 HW raw 78440.221013888    cmsg len 48: IPPROTO_IP IP_RECVERR ee_errno 'No message of desired type' ee_origin 4 => bounced packet => GOT OUR DATA BACK (HURRAY!)
1641489145.009039: select 4990961us


Attachment: smime.p7s
Description: Elektronicky podpis S/MIME

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