Docker Daemon not ready in time, in CI runs

Description

Since updating our docker-tools image to 23.0.1-dind-1, we've been getting this error in Jenkins, intermittently:
ERROR: Cannot connect to the Docker daemon at unix:///var/run/docker.sock. Is the docker daemon running?

Container template:
containerTemplate(name: 'docker-tools', image: 'docker.itscovered.com/build/docker-tools:23.0.1-dind-1', alwaysPullImage: true, privileged: true, ttyEnabled: true)

Run command:
docker buildx build --secret id=TOKEN -t docker.itscovered.com/project-name:${imageTag} -t docker.itscovered.com/project-name:latest .

Though our immediate fix is to yamlize the pod template, and add a readiness check, the newest version's behavior still represents a regression in functionality.

Reproduce

Container template:
containerTemplate(name: 'docker-tools', image: 'docker.itscovered.com/build/docker-tools:23.0.1-dind-1', alwaysPullImage: true, privileged: true, ttyEnabled: true)

Run command:
docker buildx build --secret id=TOKEN -t docker.itscovered.com/project-name:${imageTag} -t docker.itscovered.com/project-name:latest .

Expected behavior

No response

docker version

Client:
 Context:    default
 Debug Mode: false
 Plugins:
  buildx: Docker Buildx (Docker Inc., v0.9.1)
  compose: Docker Compose (Docker Inc., v2.13.0)
  dev: Docker Dev Environments (Docker Inc., v0.0.5)
  extension: Manages Docker extensions (Docker Inc., v0.2.16)
  sbom: View the packaged-based Software Bill Of Materials (SBOM) for an image (Anchore Inc., 0.6.0)
  scan: Docker Scan (Docker Inc., v0.22.0)

Server:
 Containers: 1
  Running: 0
  Paused: 0
  Stopped: 1
 Images: 2
 Server Version: 20.10.21
 Storage Driver: overlay2
  Backing Filesystem: extfs
  Supports d_type: true
  Native Overlay Diff: true
  userxattr: false
 Logging Driver: json-file
 Cgroup Driver: cgroupfs
 Cgroup Version: 2
 Plugins:
  Volume: local
  Network: bridge host ipvlan macvlan null overlay
  Log: awslogs fluentd gcplogs gelf journald json-file local logentries splunk syslog
 Swarm: inactive
 Runtimes: io.containerd.runc.v2 io.containerd.runtime.v1.linux runc
 Default Runtime: runc
 Init Binary: docker-init
 containerd version: 770bd0108c32f3fb5c73ae1264f7e503fe7b2661
 runc version: v1.1.4-0-g5fd4c4d
 init version: de40ad0
 Security Options:
  seccomp
   Profile: default
  cgroupns
 Kernel Version: 5.15.49-linuxkit
 Operating System: Docker Desktop
 OSType: linux
 Architecture: aarch64
 CPUs: 4
 Total Memory: 7.668GiB
 Name: docker-desktop
 ID: SZO6:VTXK:BIXP:GG2W:GEOA:FFZZ:R7QN:3UM3:OZIJ:LPQS:7IG4:ADJF
 Docker Root Dir: /var/lib/docker
 Debug Mode: false
 HTTP Proxy: http.docker.internal:3128
 HTTPS Proxy: http.docker.internal:3128
 No Proxy: hubproxy.docker.internal
 Registry: https://index.docker.io/v1/
 Labels:
 Experimental: false
 Insecure Registries:
  hubproxy.docker.internal:5000
  127.0.0.0/8
 Live Restore Enabled: false

docker info

Client:
 Context:    default
 Debug Mode: false
 Plugins:
  buildx: Docker Buildx (Docker Inc., v0.9.1)
  compose: Docker Compose (Docker Inc., v2.13.0)
  dev: Docker Dev Environments (Docker Inc., v0.0.5)
  extension: Manages Docker extensions (Docker Inc., v0.2.16)
  sbom: View the packaged-based Software Bill Of Materials (SBOM) for an image (Anchore Inc., 0.6.0)
  scan: Docker Scan (Docker Inc., v0.22.0)

Server:
 Containers: 1
  Running: 0
  Paused: 0
  Stopped: 1
 Images: 2
 Server Version: 20.10.21
 Storage Driver: overlay2
  Backing Filesystem: extfs
  Supports d_type: true
  Native Overlay Diff: true
  userxattr: false
 Logging Driver: json-file
 Cgroup Driver: cgroupfs
 Cgroup Version: 2
 Plugins:
  Volume: local
  Network: bridge host ipvlan macvlan null overlay
  Log: awslogs fluentd gcplogs gelf journald json-file local logentries splunk syslog
 Swarm: inactive
 Runtimes: runc io.containerd.runc.v2 io.containerd.runtime.v1.linux
 Default Runtime: runc
 Init Binary: docker-init
 containerd version: 770bd0108c32f3fb5c73ae1264f7e503fe7b2661
 runc version: v1.1.4-0-g5fd4c4d
 init version: de40ad0
 Security Options:
  seccomp
   Profile: default
  cgroupns
 Kernel Version: 5.15.49-linuxkit
 Operating System: Docker Desktop
 OSType: linux
 Architecture: aarch64
 CPUs: 4
 Total Memory: 7.668GiB
 Name: docker-desktop
 ID: SZO6:VTXK:BIXP:GG2W:GEOA:FFZZ:R7QN:3UM3:OZIJ:LPQS:7IG4:ADJF
 Docker Root Dir: /var/lib/docker
 Debug Mode: false
 HTTP Proxy: http.docker.internal:3128
 HTTPS Proxy: http.docker.internal:3128
 No Proxy: hubproxy.docker.internal
 Registry: https://index.docker.io/v1/
 Labels:
 Experimental: false
 Insecure Registries:
  hubproxy.docker.internal:5000
  127.0.0.0/8
 Live Restore Enabled: false

Additional Info

No response

Start by reproducing the Jenkins containerTemplate using docker-tools:23.0.1-dind-1 and the provided docker buildx build command. Compare when the Docker daemon becomes available with the previous image behavior and inspect the readiness timing. Done means the documented container setup can run the build command without intermittent daemon connection failures.