I can't comment. So to complete the answer from Niklas B. for kernel-5.15 series

Switch to the root directory of your source tree and run the following commands.

make prepare
make modules SUBDIRS=drivers/the_module_directory
make modules_install SUBDIRS=drivers/the_module_directory

modules_install re-install all drivers. I don't know if it's possible / advisable to just copy your driver.

Tested with rtl8xxxu driver.