Solution :
Clear the /var/tmp/.oracle directory and start from fresh:
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Stop all listeners
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Remove the /var/tmp/.oracle directory, e.g. run the following from the root account:
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Check the listener(s) configuration contains unique keys specified for each IPC endpoint and each listener
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Start the listener(s) from the normal Oracle OS user.
Clearing the /var/tmp/.oracle directory will force the listeners to recreate the socket files from fresh, each with its own correct ownership.