Found the root cause for this issue, the typemap.properties file which is present in SV 10.5 classic environment under /devtest directory is not available in the SV 10.5 VSE docker image /devtest directory. After copying the typemap.properties file in to the VSE docker image, The MAR with Request Data Protocol is deployed successfully.
We have no plans to update the 10.5.1 image for now. This fix is available in 10.6.0 image. They have to just use 10.6.0 image for Registry, VSE, Coordinator and Simulator. If the customer still wants to use 10.5.1 image, then they can build image on top of 10.5.1 image using attached Dockerfile.