Thank you!
I have updated the firmware and can confirm the drive now works in Linux without issue!
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Drive Information
OS device name: /dev/sr0
Current profile: BD-ROM
Manufacturer: PIONEER
Product: BD-RW BDR-UD04
Revision: 1.14
Serial number: ADDL211420WL
Firmware date: 2020-06-15
Bus encryption flags: 1B
Highest AACS version: 68
LibreDrive Information
Status: Enabled
Drive platform: RS8A10
Firmware name: PIONEER BDR-US04
Firmware type: Original (unpatched)
Firmware version: 1.14
DVD all regions: Yes
BD raw data read: Yes
BD raw metadata read: Yes
Unrestricted read speed: Yes