Hi, to update on this matter, the problem has been resolved! I tried to use MATLAB online to connect to my RPI and I follow through the process step by step including reinstallation of the firmware (you can follow the link below). In the end I get to connect and realized that my RPI model is not the same as written on my RPI 4B board, it was a RPI 2B instead. After this, I tried to make connection again with MATLAB R2021a and it works fine!
After all, I think the issue can be resolve by installing the MATLAB firmware from the terminal. You can access to your RPI interface using VNC Viewer. Just input the IP address, ID and password.
Connect to Raspberry Pi Hardware Board in MATLAB Online
https://www.mathworks.com/help/supportpkg/raspberrypiio/ug/connect-to-raspberry-pi-hardware-board-in-matlab-online.html