Looks like the codec doesn't reference/load libopus0 properly.
My *workaround* for codec_opus_open_source (as root):
service asterisk stop
OPUS_LIB_LOC=$(dpkg-query -L libopus0 | grep '.so.0$') # to support multiarch
mv /usr/sbin/asterisk{,_orig}
echo -e '#!/bin/bash\nLD_PRELOAD='$OPUS_LIB_LOC' exec /usr/sbin/asterisk_orig
"$@"' > /usr/sbin/asterisk
chmod +x /usr/sbin/asterisk
service asterisk start
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https://bugs.launchpad.net/bugs/1879387
Title:
Opus module fail to load (Ubuntu 20.04)
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