In the comment linked below, user paolostivanin identified the shared object files which are required by the libraries:

github.com/indilib/indi-3rdparty/issues/...suecomment-926911217

I didn't have my original (problematic) configuration set up, so I created a new 20.04 machine, followed the build/installation instructions, and then tried to install the packages which provide these files. These were the only two which didn't show up as installed on my system, but there were others - go through those files and do a search to see if there are any other ones which you might not have by default. Also, it may help to rebuild/reinstall kstars/indi/libatik/indi-atik after grabbing these prerequisites.

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