The steps are correct, now I explain how to make working Legacy IOUSB and telemetry fix on a non-APFS mac:
From your external USB Catalina
diskutil mount Preboot
locate your UUID-BigSur
replace and copy this file (note this file is mainly for those who use USBOpenCoreAPFSloader3 even if prelinkedkernel will work also on recent mac):
BigSur prelinkedkernel fix.zip
copy (and replace) in these paths:
/Volumes/UUID-BigSur/Library/SystemConfiguration/
com.apple.Boot.plist
/Volumes/UUID-BigSur/Library/Preferences/SystemConfiguration/
com.apple.Boot.plist
/Volumes/UUID-BigSur/System/Library/CoreServices/com.apple.Boot.plist
and maybe also here:
/Volumes/YourBigSurSystemLabel/System/Library/CoreServices/
com.apple.Boot.plist
(this step is not necessary because are used those from Preboot)
Then through USBopencore boot BigSur but with CMD+S and check if in single user mode you can use keyboard to type "exit" (using single user mode should work also on an external BigSur install with Legacy IOUSB).
Currently the only limit for non-APFS mac of LegacyUSBInjector.kext is on the USB BigSur Installer or BigSur Recovery, (and mainly on the fact that IOUSB legacy doesn't prelink on BootKernelExtensions.kc ).
Optional step from Catalina, if you can mount the BigSur System volume, remove also the telemetry plugin:
/Volumes/YourBigSurSystemLabel/System/Library/UserEventPlugins/com.apple.telemetry.plugin