4.13-10ubuntu5 in 21.10 and 5.2-1ubuntu1 in jammy are failing as well,
with debug log different when compared to version 3 involved here:

2021/12/05 19:58:41.705 kid1| 80,6| wccp2.cc(1580) wccp2HereIam: wccp2HereIam: 
Called
2021/12/05 19:58:41.705 kid1| 80,5| wccp2.cc(1599) wccp2HereIam: wccp2HereIam: 
sending to service id 0
2021/12/05 19:58:41.705 kid1| 80,3| wccp2.cc(1630) wccp2HereIam: Sending 
HereIam packet size 144
2021/12/05 19:58:41.707 kid1| 80,6| wccp2.cc(1202) wccp2HandleUdp: 
wccp2HandleUdp: Called.
2021/12/05 19:58:41.707 kid1| 80,3| wccp2.cc(1226) wccp2HandleUdp: Incoming 
WCCPv2 I_SEE_YOU length 128.
2021/12/05 19:58:41.707 kid1| ERROR: Ignoring WCCPv2 message: duplicate 
security definition
    exception location: wccp2.cc(1249) wccp2HandleUdp

This looks like a problem with squid itself, the packet does not have
duplicate security definition. In the code at http://www.squid-
cache.org/Doc/code/wccp2_8cc_source.html I miss some debug output in the
loop processing the packet /* Go through the data structure */ so would
need to rebuild the package or to involve debugger.

I was not able to find any documentation of squid listing
supported/tested wccp servers but at this point this looks like an issue
to be reported upstream. There is no reason to consider wccp packets
from IOS 15.8(3)M2 invalid.

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https://bugs.launchpad.net/bugs/1952158

Title:
  squid does not accept WCCP of Cisco router since 3.5.27-1ubuntu1.12

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