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I believe the error was due to colcon picking up the anaconda python, instead of the default OS python (3.8.10 in my case).

Sometimes rclpy fails to be imported because the expected C extension libraries are not found. If so, compare the libraries present in the directory with the one mentioned in the error message. Assuming a file with a similar name exists (same prefix like _rclpy. and same suffix like .so but a different Python version / architecture) you are using a different Python interpreter than which was used to build the C extension. Be sure to use the same Python interpreter as the one used to build the binary.

https://docs.ros.org/en/rolling/How-To-Guides/Installation-Troubleshooting.html#import-failing-without-library-present-on-the-system