As explained in the accepted answer to How to install ROS on a Raspberry Pi: If you use Raspbian there are no binaries available for you to install ROS directly

The answer found in How to install ROS on a Raspberry Pi is from 2017 but of course right.

Nowadays I would recommend simply using an ubuntu image from https://ubuntu.com/download/raspberry-pi if this is acceptable for your use case. It worked for me out of the box and you can simply install the debs from the official sources.

If you want, you can try using an existing raspberry pi image, there is a really good one provided by ubiquity robotics. Here it is: https://www.ubiquityrobotics.com/download/

You can even install the virtual machine, if you don't have an ubuntu system. Basically having a workstation However, keep in mind, the way this is set up, is done where your robot is the master, and the workstation is the host/slave. So, just have that in mind