You can find instructions in the documentation for troubleshooting that also shows how you can read debug logs
If you can’t interpret the error messages, you can upload the the diagnostics as described in the docs and open a ticket on GitHub
But first I would upgrate the client to the same version as the daemon just to rule out any API incompatibility issues even if the error doesn’t happen all the time.
And since he current version is Docker Desktop 4.42.1, you could also upgrade to the latest desktop, since what you are experiencing, could be solved already. If that doesn’t help either, I would open ticket on GitHub only then..