The bootstrap virtual machine that I utilised for the deploy of the TKG cluster was the market place Ubuntu 22.04 LTS image. Once deployed, I performed the following steps to prepare the virtual machine for the TKG deployment.
To install the Azure Cli onto the bootstrap virtual machine, execute the following command.
curl -sL https://aka.ms/InstallAzureCLIDeb | sudo bash

References
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

echo \
"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
$(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

sudo groupadd docker

sudo usermod -aG docker $USER

newgrp docker

To validate that Docker can be run with the current user, execute the following command.
docker ps

References
As per the Tanzu CLI Product Interoperability Matrix only Tanzu CLI 1.0.0 and 1.1.0 are supported for TKG 2.4.1.

[!WARNING] If you follow the below instructions, this will install the latest Tanzu CLI (1.2.0) which may cause issues.

Follow the below steps to install the supported Tanzu CLI version.
To install Tanzu CLI 1.1.0 run the following commands.
sudo apt update
sudo apt install -y ca-certificates curl gpg
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://packages.vmware.com/tools/keys/VMWARE-PACKAGING-GPG-RSA-KEY.pub | sudo gpg --dearmor -o /etc/apt/keyrings/tanzu-archive-keyring.gpg
echo "deb [signed-by=/etc/apt/keyrings/tanzu-archive-keyring.gpg] https://storage.googleapis.com/tanzu-cli-os-packages/apt tanzu-cli-jessie main" | sudo tee /etc/apt/sources.list.d/tanzu.list
sudo apt update
sudo apt install -y tanzu-cli=1.1.0

To validate that the correct version of the Tanzu CLI has been installed, execute the following command.
tanzu version

tanzu plugin install --group vmware-tkg/default:v2.4.1

To validate the plugin list, execute the following command.
tanzu plugin list

Browse to Tanzu Kubernetes Grid v2.4.1 Product Downloads and download the kubectl-linux-v1.27.5+vmware.1.gz file.

Once downloaded, tranfer the file to the bootstrap virtual machine

gunzip kubectl-linux-v1.27.5+vmware.1.gz

chmod ugo+x kubectl-linux-v1.27.5+vmware.1
sudo install kubectl-linux-v1.27.5+vmware.1 /usr/local/bin/kubectl
kubectl version
