The "invalid signature" problem I think is caused by Secure Boot. Try disabling Secure Boot in your BIOS.
Also sorry again because it sounds like that libc6 problem is going to keep getting in the way. But good news: Kernel 5.11 has now been officially released to Ubuntu 20.04 updates. So you can delete the test kernel packages with:
sudo dpkg -P PACKAGENAME1 PACKAGENAME2 ....
and then do a system update to get the official update to 5.11:
The "invalid signature" problem I think is caused by Secure Boot. Try disabling Secure Boot in your BIOS.
Also sorry again because it sounds like that libc6 problem is going to keep getting in the way. But good news: Kernel 5.11 has now been officially released to Ubuntu 20.04 updates. So you can delete the test kernel packages with:
sudo dpkg -P PACKAGENAME1 PACKAGENAME2 ....
and then do a system update to get the official update to 5.11:
sudo apt update
sudo apt full-upgrade