After using the latest build that contains CONFIG_TOUCHSCREEN_ILI210X ( How to activate a configuration for a device - Technical Support - Toradex Community) instead of building the driver as a module, it now works as intended. I also added the touchscreen.rules to the filesystem customization when building my image.
torizon@verdin-imx8mp-12345678:~$ ls -l /dev/input
total 0
drwxr-xr-x 2 root root 100 Sep 6 2022 by-path
crw-rw---- 1 root input 13, 64 Sep 6 2022 event0
crw-rw---- 1 root input 13, 65 Sep 6 2022 event1
crw-rw---- 1 root input 13, 66 Sep 6 2022 event2
lrwxrwxrwx 1 root root 6 Sep 6 2022 touchscreen0 -> event2
torizon@verdin-imx8mp-12345678:~$ udevadm info /dev/input/event2
P: /devices/platform/soc@0/30800000.bus/30a50000.i2c/i2c-3/3-0041/input/input2/event2
N: input/event2
L: 0
S: input/touchscreen0
S: input/by-path/platform-30a50000.i2c-event
E: DEVPATH=/devices/platform/soc@0/30800000.bus/30a50000.i2c/i2c-3/3-0041/input/input2/event2
E: DEVNAME=/dev/input/event2
E: MAJOR=13
E: MINOR=66
E: SUBSYSTEM=input
E: USEC_INITIALIZED=6433140
E: ID_INPUT=1
E: ID_INPUT_TOUCHSCREEN=1
E: ID_PATH=platform-30a50000.i2c
E: ID_PATH_TAG=platform-30a50000_i2c
E: UDISKS_FILESYSTEM_SHARED=1
E: LIBINPUT_CALIBRATION_MATRIX=3.971098 -0.129536 0.017572 0.046343 7.049267 -0.013870
E: DEVLINKS=/dev/input/touchscreen0 /dev/input/by-path/platform-30a50000.i2c-event
I did not have to add /dev/input, so the docker-compose file I am using is the same as shown on the first post.
Thank you for your help (on the other thread as well).