Wsl2 Ubuntu , docker is not running

If you want to use Docker Desktop the only version that works right now is 3.3.0. See Guide to run CUDA + WSL + Docker with latest versions (21382 Windows build + 470.14 Nvidia) - CUDA / CUDA on Windows Subsystem for Linux - NVIDIA Developer Forums

Since you have the driver 470.76 I recommend to uninstall/disable Docker Desktop and install the nvidia docker in your WSL2 distro following this :: (nvidia.com)