We are having the same issue.
Out setup:
Ubuntu 22.04 (daily) + GlobalProtect Version 6 from Palo Alto Networks + SAML 
Auth
We found a system-wide workaround.
Modify the existing openssl config file, path: /usr/lib/ssl/openssl.cnf
with your already mentioned settings (just add the missings ones):
====>8======================================
openssl_conf = openssl_init

[openssl_init]
ssl_conf = ssl_sect

[ssl_sect]
system_default = system_default_sect

[system_default_sect]
Options = UnsafeLegacyRenegotiation
====8<======================================

For the moment it is working fine for us.

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https://bugs.launchpad.net/bugs/1963834

Title:
  openssl 3.0 - SSL: UNSAFE_LEGACY_RENEGOTIATION_DISABLED]

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