kextload failed "Authenticating extension failed: Bad code signature."

I get this error when loading kext.

"Authenticating extension failed: Bad code signature."

The MacBook system status is as follows.

There are a few points to illustrate.

  • This kext file works fine with SIP turned off in MacBook 2018 (MacOS 10.14.6).
  • This kext will not be released, it will only be used for debugging within our own group.
  • This kext has been compiled into the arm64 version.
  • The SIP option has been turned off in recovery mode and the option to reduce security has been checked for kext testing.

I want to use this kext (and not distribute) if I have to use the Apple Developer program for authentication and signing and authentication. What should I do if I don't need to? Or is it not caused by certified signatures?