The post by the mod wasn’t the answer, but the answer posted before the mod in the same thread (Can't launch Isaac Sim Version 2023.1.0 with Ros2 Selected - #2 by jaohsu) worked for me.
However, I did learn that I should only run this command in the terminal where I am going to run the ISAAC simulator. If I run this command in my catkin workspace for example, then the colcon build fails. So I don’t put it in my ~/.bashrc to avoid this.
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/.local/share/ov/pkg/isaac_sim-2023.1.0/exts/omni.isaac.ros2_bridge/humble/lib