I get the same error on Ubuntu 20.04.3. The problem here is likely
caused by Mesa drivers update to 21.2.6. Looks like Mesa 21 has changes
in Wayland authentication and it requires fix to libva
(https://github.com/intel/libva/pull/476). The fix should be present in
libva 2.11 and above while Ubuntu 20.04.3 ships libva 2.6.

I verified it using compiled libva/libva-utils from current upstream
git. with current upstream

bor@bor-Latitude-E5450:~/src/intel/libva-utils$ ./vainfo/vainfo 
libva info: VA-API version 1.15.0
libva info: Trying to open /home/bor/pkg/lib/dri/iHD_drv_video.so
libva info: va_openDriver() returns -1
libva info: Trying to open /home/bor/pkg/lib/dri/i965_drv_video.so
libva info: Found init function __vaDriverInit_1_6
libva info: va_openDriver() returns 0
vainfo: VA-API version: 1.15 (libva 2.15.0.pre1)
vainfo: Driver version: Intel i965 driver for Intel(R) Broadwell - 2.4.0
vainfo: Supported profile and entrypoints
      VAProfileMPEG2Simple            : VAEntrypointVLD
      VAProfileMPEG2Simple            : VAEntrypointEncSlice
      VAProfileMPEG2Main              : VAEntrypointVLD
      VAProfileMPEG2Main              : VAEntrypointEncSlice
      VAProfileH264ConstrainedBaseline: VAEntrypointVLD
      VAProfileH264ConstrainedBaseline: VAEntrypointEncSlice
      VAProfileH264Main               : VAEntrypointVLD
      VAProfileH264Main               : VAEntrypointEncSlice
      VAProfileH264High               : VAEntrypointVLD
      VAProfileH264High               : VAEntrypointEncSlice
      VAProfileH264MultiviewHigh      : VAEntrypointVLD
      VAProfileH264MultiviewHigh      : VAEntrypointEncSlice
      VAProfileH264StereoHigh         : VAEntrypointVLD
      VAProfileH264StereoHigh         : VAEntrypointEncSlice
      VAProfileVC1Simple              : VAEntrypointVLD
      VAProfileVC1Main                : VAEntrypointVLD
      VAProfileVC1Advanced            : VAEntrypointVLD
      VAProfileNone                   : VAEntrypointVideoProc
      VAProfileJPEGBaseline           : VAEntrypointVLD
      VAProfileVP8Version0_3          : VAEntrypointVLD
bor@bor-Latitude-E5450:~/src/intel/libva-utils$ 

With *only* commit 283f776a9649dcef58b47958c1269499adfa1cd4 reverted

bor@bor-Latitude-E5450:~/src/intel/libva-utils$ ./vainfo/vainfo 
wl_drm@7: error 0: authenticate failed
VA error: wayland: Wayland roundtrip error: Protocol error (errno 71)
libva info: VA-API version 1.15.0
libva error: vaGetDriverNameByIndex() failed with invalid VADisplay, 
driver_name = (null)
vaInitialize failed with error code 3 (invalid VADisplay),exit
bor@bor-Latitude-E5450:~/src/intel/libva-utils$ 

Please update libva/vainfo in 20.04.3 to match Mesa. I can open new bug
for 20.04 if needed.

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https://bugs.launchpad.net/bugs/1944088

Title:
  [vaapi] libva: vaGetDriverNameByIndex() failed with invalid VADisplay,
  driver_name = (null)

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