Disclaimer: I do not own a GrovePi+ so this is what I would try if I did:
- Install Legacy PiOS (Current image at this time is December 2021)
- Use Raspberry Pi Imager v1.6.2 or later
- Choose OS → Raspberry Pi OS (other) → Raspberry Pi OS (Legacy)
- Set it up to connect to your network
- Make sure it is fully working
- setup with remote shell or VNC to the desktop
- Follow the GrovePi Setup instructions