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Short answer, most likely the "ANT HAL Service" was not provided with your Android update, please contact your phone provider for support.
The permission itself is declared by the "ANT HAL Service", and while the reference code for it is available in this repository, the phone/chipset manufacturer has to provide their own version of the service in their Android build.
On Android 11 the Permission to enable Ant+ Radio service is once again missing as on Android 9. With Android 10 the permission was restored.
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