I happened to have the same issue and in the end I realised that tippy.js was not included in frontend. I double checked the package.json and tippy.js was no there.
I dedided to run a vaadin:clean-frontend and vaadin:dance and then build the frontend from scratch. Then my package.json was updated and included the missing dependency. After running the app again it worked.
Actually, I realised that when I managed to get tooltips working I had the devtools disabled (actually disappeared). I tried to recompile it and again the issue came up and at this point I tried to recompile and clean many times and the JS is not included.
I think something's up with 23.1. I thought it might be related to Vite build but I tried with webpack too and no luck.
Edit: looks like when the project is run with spring-boot:run the package.json is modified and the dependency gets removed.