Thank you, it is working now.
Using a fresh image of the Ubuntu desktop LSDK, I get:
# cat /boot/config-5.10.35 | grep SENSORS_INA2XX
CONFIG_SENSORS_INA2XX=m
So get the ina2xx driver working with lm-sensors, I needed to run the following command first to load the kernel module:
modprobe ina2xx
Now I see:
# sensors
ina220-i2c-3-40
Adapter: i2c-0-mux (chan_id 2)
in0: 3.00 mV
in1: 1.01 V
power1: 4.40 W
curr1: 5.16 A
ddr_controller-virtual-0
Adapter: Virtual device
temp1: +45.0°C (crit = +95.0°C)
core_cluster-virtual-0
Adapter: Virtual device
temp1: +45.0°C (crit = +95.0°C)