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This does look like a problem with your python versions and mismatched libraries.
If you're using python3 you should use the python3-rosdep tool. If you have installed the python2 version and it's using the python3 libraries (potentially by using pythonispython3 or something like that it could potentially cause trouble.
Looking a little deeper I also note that if you're using python 3.10 it's definitely not the version packaged as a debian package on Bionic 18.04 which means that your python version is custom. So you probably should be installing rosdep via the same mechanism as the python version. Possibly via pip instead of via the debian package. Once you're not using the system version of python, binary packages like python-rosdep are not expected to work either.
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