Rule error using ct helper for TFTP

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The nftables utility fails when using a "ct helper" rule for TFTP:

# /usr/sbin/nft -f /usr/share/netfw/netfw.conf
/usr/share/netfw/netfw.conf:32:30-33: Error: Could not process rule: No such file or directory
                 udp dport 69 ct helper set tftp
^^^^

How should nftables be configured so TFTP is allowed with a default-deny firewall?

For the record, I'm using nftables 1.0.2 built for an i.MX8 embedded platform running Linux 5.15.71.

The complete ruleset is:

flush ruleset
table inet filter {
        ct helper tftp {
                type "tftp" protocol udp;
                l3proto inet
        }
        chain input {
                type filter hook input priority filter; policy drop;
                ct state invalid drop comment "early drop of invalid packets"
                ct state established,related accept
                iif lo accept
                iif != lo ip daddr 127.0.0.1/8 drop
                iif != lo ip6 daddr ::1/128 drop
                ip protocol icmp accept
                ip6 nexthdr icmpv6 accept
                udp dport 69 ct helper set tftp
        }
        chain forward {
                type filter hook forward priority 0; policy drop;
        }
}

Output from lsmod:

Module                  Size  Used by
nf_conntrack_tftp      20480  0
nft_ct                 24576  0
nf_conntrack          110592  2 nf_conntrack_tftp,nft_ct
nf_defrag_ipv6         24576  1 nf_conntrack
nf_defrag_ipv4         16384  1 nf_conntrack
nf_tables             192512  1 nft_ct
libcrc32c              16384  2 nf_conntrack,nf_tables
nfnetlink              20480  1 nf_tables
wlan                 4472832  0
crct10dif_ce           20480  1
cfg80211              700416  1 wlan

Output from sysctl -a:

net.netfilter.nf_conntrack_acct = 0
net.netfilter.nf_conntrack_buckets = 65536
net.netfilter.nf_conntrack_checksum = 1
net.netfilter.nf_conntrack_count = 11
net.netfilter.nf_conntrack_dccp_loose = 1
net.netfilter.nf_conntrack_dccp_timeout_closereq = 64
net.netfilter.nf_conntrack_dccp_timeout_closing = 64
net.netfilter.nf_conntrack_dccp_timeout_open = 43200
net.netfilter.nf_conntrack_dccp_timeout_partopen = 480
net.netfilter.nf_conntrack_dccp_timeout_request = 240
net.netfilter.nf_conntrack_dccp_timeout_respond = 480
net.netfilter.nf_conntrack_dccp_timeout_timewait = 240
net.netfilter.nf_conntrack_events = 1
net.netfilter.nf_conntrack_expect_max = 1024
net.netfilter.nf_conntrack_frag6_high_thresh = 4194304
net.netfilter.nf_conntrack_frag6_low_thresh = 3145728
net.netfilter.nf_conntrack_frag6_timeout = 60
net.netfilter.nf_conntrack_generic_timeout = 600
net.netfilter.nf_conntrack_helper = 0
net.netfilter.nf_conntrack_icmp_timeout = 30
net.netfilter.nf_conntrack_icmpv6_timeout = 30
net.netfilter.nf_conntrack_log_invalid = 0
net.netfilter.nf_conntrack_max = 65536
net.netfilter.nf_conntrack_sctp_timeout_closed = 10
net.netfilter.nf_conntrack_sctp_timeout_cookie_echoed = 3
net.netfilter.nf_conntrack_sctp_timeout_cookie_wait = 3
net.netfilter.nf_conntrack_sctp_timeout_established = 432000
net.netfilter.nf_conntrack_sctp_timeout_heartbeat_acked = 210
net.netfilter.nf_conntrack_sctp_timeout_heartbeat_sent = 30
net.netfilter.nf_conntrack_sctp_timeout_shutdown_ack_sent = 3
net.netfilter.nf_conntrack_sctp_timeout_shutdown_recd = 0
net.netfilter.nf_conntrack_sctp_timeout_shutdown_sent = 0
net.netfilter.nf_conntrack_tcp_be_liberal = 0
net.netfilter.nf_conntrack_tcp_ignore_invalid_rst = 0
net.netfilter.nf_conntrack_tcp_loose = 1
net.netfilter.nf_conntrack_tcp_max_retrans = 3
net.netfilter.nf_conntrack_tcp_timeout_close = 10
net.netfilter.nf_conntrack_tcp_timeout_close_wait = 60
net.netfilter.nf_conntrack_tcp_timeout_established = 432000
net.netfilter.nf_conntrack_tcp_timeout_fin_wait = 120
net.netfilter.nf_conntrack_tcp_timeout_last_ack = 30
net.netfilter.nf_conntrack_tcp_timeout_max_retrans = 300
net.netfilter.nf_conntrack_tcp_timeout_syn_recv = 60
net.netfilter.nf_conntrack_tcp_timeout_syn_sent = 120
net.netfilter.nf_conntrack_tcp_timeout_time_wait = 120
net.netfilter.nf_conntrack_tcp_timeout_unacknowledged = 300
net.netfilter.nf_conntrack_udp_timeout = 30
net.netfilter.nf_conntrack_udp_timeout_stream = 120
net.netfilter.nf_log.0 = NONE
net.netfilter.nf_log.1 = NONE
net.netfilter.nf_log.10 = NONE
net.netfilter.nf_log.11 = NONE
net.netfilter.nf_log.12 = NONE
net.netfilter.nf_log.2 = NONE
net.netfilter.nf_log.3 = NONE
net.netfilter.nf_log.4 = NONE
net.netfilter.nf_log.5 = NONE
net.netfilter.nf_log.6 = NONE
net.netfilter.nf_log.7 = NONE
net.netfilter.nf_log.8 = NONE
net.netfilter.nf_log.9 = NONE
net.netfilter.nf_log_all_netns = 0

Kernel config:

CONFIG_NETFILTER_ADVANCED=y
CONFIG_NETFILTER_INGRESS=y
CONFIG_NETFILTER_NETLINK=m
CONFIG_NF_CONNTRACK=m
CONFIG_NF_LOG_SYSLOG=m
CONFIG_NF_CONNTRACK_EVENTS=y
CONFIG_NF_CT_PROTO_DCCP=y
CONFIG_NF_CT_PROTO_SCTP=y
CONFIG_NF_CT_PROTO_UDPLITE=y
CONFIG_NF_CONNTRACK_FTP=m
CONFIG_NF_CONNTRACK_TFTP=m
CONFIG_NF_NAT=m
CONFIG_NF_NAT_FTP=m
CONFIG_NF_NAT_TFTP=m
CONFIG_NF_NAT_REDIRECT=y
CONFIG_NF_NAT_MASQUERADE=y
CONFIG_NF_TABLES=m
CONFIG_NF_TABLES_INET=y
CONFIG_NF_TABLES_NETDEV=y
CONFIG_NETFILTER_XTABLES=m
CONFIG_NETFILTER_XTABLES_COMPAT=y
CONFIG_NETFILTER_XT_TARGET_CHECKSUM=m
CONFIG_NETFILTER_XT_TARGET_LOG=m
CONFIG_NETFILTER_XT_NAT=m
CONFIG_NETFILTER_XT_TARGET_REDIRECT=m
CONFIG_NETFILTER_XT_TARGET_MASQUERADE=m
CONFIG_NETFILTER_XT_MATCH_ADDRTYPE=m
CONFIG_NETFILTER_XT_MATCH_CONNTRACK=m
CONFIG_NETFILTER_XT_MATCH_IPVS=m
CONFIG_NF_DEFRAG_IPV4=m
CONFIG_NF_TABLES_IPV4=y
CONFIG_NF_REJECT_IPV4=m
CONFIG_IP_NF_IPTABLES=m
CONFIG_IP_NF_FILTER=m
CONFIG_IP_NF_TARGET_REJECT=m
CONFIG_IP_NF_NAT=m
CONFIG_IP_NF_TARGET_MASQUERADE=m
CONFIG_IP_NF_TARGET_REDIRECT=m
CONFIG_IP_NF_MANGLE=m
CONFIG_NF_TABLES_IPV6=y
CONFIG_NF_REJECT_IPV6=m
CONFIG_NF_LOG_IPV6=m
CONFIG_IP6_NF_IPTABLES=m
CONFIG_IP6_NF_FILTER=m
CONFIG_IP6_NF_TARGET_REJECT=m
CONFIG_IP6_NF_MANGLE=m
CONFIG_IP6_NF_NAT=m
CONFIG_IP6_NF_TARGET_MASQUERADE=m
CONFIG_NF_DEFRAG_IPV6=m





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