Hmmm, I tried to recreate the runit service for ulogd today and it seems that it now can properly start up. in /var/log/ulogd.log I read
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `NFLOG'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `BASE'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `IP2STR'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `PRINTPKT'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `LOGEMU'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:407 registering plugin `IFINDEX'
Sun Jan 16 13:40:26 2022 <5> ulogd.c:979 building new pluginstance stack: 'log1:NFLOG,base1:BASE,ifi1:IFINDEX,ip2str1:IP2STR,print1:PRINTPKT,emu1:LOGEMU'
which looks just fine, as far as I understand it. Gone are the errors from yesterday.