Now, it works for me (ubuntu 20.04.3) with the kernel (v5.11.0.34.36)
parameter

nvidia.NVreg_RegistryDwords=EnableBrightnessControl=1

And nvidia drivers 460.91.03. No need to do anything else.

The parameter is mentioned in arch wiki

https://wiki.archlinux.org/title/NVIDIA#Enabling_brightness_control

This is all for discrete mode.  Credits to @Chaplan from legion discord
for finding this.

For hybrid mode, there is different kernel parameter (for AMD)

amdgpu.backlight=0

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https://bugs.launchpad.net/bugs/1905591

Title:
  no brightness control in {455,460} after update from 450

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