From the comments: "These exact instructions are not working on Ubuntu 24.04. Ubuntu has changed the naming of ZFS partitions, partition 2 and 3 are switched around, and the boot/efi folder is now different."
I don't have my dual-disk test system any longer, and so can't adjust these steps myself.
Ubuntu Desktop 20.04 supports a single ZFS boot drive out of the box. I wanted a ZFS mirror, without going through an entirely manual setup of Ubuntu as described by OpenZFS in their instructions for Ubuntu 20.04 and instructions for Ubuntu 22.04