The docs are for docker-ce, but your context is set to docker-linux (=Docker Desktop)
What you did applies to docker-ce. Just switch back to the default context and you should be able to use the docker command without sudo for docker-ce: docker context use default
Note: people that install docker-ce and docker desktop often struggle with “surprises” as they tend to forget what they did in which context. You might want to remove either docker-ce or docker desktop.