I'm aware this is ancient history but I was running into this problem as well (I've corrected it) and feel it necessary to add a bit more context and my analysis of what I think is happening. Tl;dr I was able to correct the aforementioned error by running the sysroot-relativesymlinks.py script mentioned above, re-running the configure, and rebuilding.
As noted previously, symlinks doesn't quite fix everything and I also had to use the Python symlink script. What I noticed, though, after running symlinks the first time is that a few shared libraries (such as Dbus) were not being correctly re-linked. Specifically:
aaron@AUSTIN:~$ ls -l rpi-sysroot/lib/aarch64-linux-gnu/libdbus*
-rw-r--r-- 1 aaron aaron 785514 Sep 16 2023 rpi-sysroot/lib/aarch64-linux-gnu/libdbus-1.a
lrwxrwxrwx 1 aaron aaron 42 Sep 16 2023 rpi-sysroot/lib/aarch64-linux-gnu/libdbus-1.so -> /lib/aarch64-linux-gnu/libdbus-1.so.3.32.4
lrwxrwxrwx 1 aaron aaron 19 Sep 16 2023 rpi-sysroot/lib/aarch64-linux-gnu/libdbus-1.so.3 -> libdbus-1.so.3.32.4
-rw-r--r-- 1 aaron aaron 395336 Sep 16 2023 rpi-sysroot/lib/aarch64-linux-gnu/libdbus-1.so.3.32.4
Notice how libdbus-1.so is still pointing to my system's (aarch64) version of libdbus, which also did not exist, since my system is x86_64 -- so the link itself was bad. So just a reminder to ensure that all of the links in your sysroot do not point to anything outside of that sysroot.
Hopefully this helps any Googler in the future.