How to install the rgl package in macOS Big Sur

Question

I have been trying to install the rgl package in my macOS Big Sur, but I have failed each time.

I have downloaded R from the CRAN website, and have also installed Xquartz. After rebooting the computer, I tried to install the rgl package from the R console. It installs successfully, but whenever I type library("rgl") in the R console, the package does not load, and instead, this is shown :

    Error in dyn.load(dynlib <- getDynlib(dir)) : 
  unable to load shared object '/Library/Frameworks/R.framework/Versions/4.1-arm64/Resources/library/rgl/libs/rgl.so':
  dlopen(/Library/Frameworks/R.framework/Versions/4.1-arm64/Resources/library/rgl/libs/rgl.so, 6): Symbol not found: _hb_buffer_add_utf8
  Referenced from: /Library/Frameworks/R.framework/Versions/4.1-arm64/Resources/library/rgl/libs/rgl.so
  Expected in: flat namespace
 in /Library/Frameworks/R.framework/Versions/4.1-arm64/Resources/library/rgl/libs/rgl.so
Error: package or namespace load failed for ‘rgl’:
 .onLoad failed in loadNamespace() for 'rgl', details:
  call: rgl.init(initValue, onlyNULL)
  error: OpenGL is not available in this build
In addition: Warning messages:
1:  Loading rgl's DLL failed. 
    This build of rgl depends on XQuartz, which failed to load.
 See the discussion in https://stackoverflow.com/a/66127391/2554330 
2: Trying without OpenGL... 

I headed to the link that this error message mentions, and tried uninstalling rgl and Xquartz, and reinstalling them again, but the issue remains.

Moreover, here it is said that I am supposed to delete org.xquartz.startx.plist from /Library/LaunchDaemons, but from the terminal, after navigating to the Library directory, it seems that there is nothing named LaunchDaemons or LaunchAgents.

Any help would be appreciated. I am using macOS Big Sur 11.4, Xquartz 2.8.1 and rgl 0.106.8. Thanks.