I have installed the missing packages from:
ppa:oem-solutions-group/intel-ipu6

Here is the result of the commands you asked for:
stefang@capella:~$ sudo apt-cache policy v4l2-relayd libipu6 libcamhal0
v4l2-relayd:
  Installed: 0~git202104290610.f14d6d4~ubuntu20.04.1
  Candidate: 0~git202104290610.f14d6d4~ubuntu20.04.1
  Version table:
 *** 0~git202104290610.f14d6d4~ubuntu20.04.1 500
        500 http://ppa.launchpad.net/oem-solutions-group/intel-ipu6/ubuntu 
focal/main amd64 Packages
        100 /var/lib/dpkg/status
libipu6:
  Installed: 0~git202104021802.45905c6-1~ubuntu20.04.1
  Candidate: 0~git202104021802.45905c6-1~ubuntu20.04.1
  Version table:
 *** 0~git202104021802.45905c6-1~ubuntu20.04.1 500
        500 http://ppa.launchpad.net/oem-solutions-group/intel-ipu6/ubuntu 
focal/main amd64 Packages
        100 /var/lib/dpkg/status
libcamhal0:
  Installed: 0~git202108110731.5b056cf~ubuntu20.04.1
  Candidate: 0~git202108110731.5b056cf~ubuntu20.04.1
  Version table:
 *** 0~git202108110731.5b056cf~ubuntu20.04.1 500
        500 http://ppa.launchpad.net/oem-solutions-group/intel-ipu6/ubuntu 
focal/main amd64 Packages
        100 /var/lib/dpkg/status
stefang@capella:~$ cat /etc/default/v4l2-relayd 
# GStreamer source element name:
#VIDEOSRC="videotest"
#SPLASHSRC="filesrc location=/.../splash.png ! pngdec ! imagefreeze 
num-buffers=4 ! videoscale ! videoconvert"

# Output format, width, height, and frame rate:
#FORMAT=YUV2
#WIDTH=1280
#HEIGHT=720
#FRAMERATE=30/1

# Virtual video device name:
#CARD_LABEL="Virtual Camera"

# Extra options to pass to v4l2-relayd:
#EXTRA_OPTS=-d
stefang@capella:~$ cat /etc/v4l2-relayd 
cat: /etc/v4l2-relayd: No such file or directory

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https://bugs.launchpad.net/bugs/1943915

Title:
  Intel IPU6 GStreamer src plugin not working

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https://bugs.launchpad.net/ubuntu/+source/linux-oem-5.13/+bug/1943915/+subscriptions


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