It seems that this method was not exposed to the python interface when moved from contrib, because it is mentioned in the documentation, but can not be used from within python:
import cv2
function = cv2.aruco.calibrateCameraCharuco
print(function)
Leads to:
AttributeError: module 'cv2.aruco' has no attribute 'calibrateCameraCharuco'.
Or could someone give me a hint how to use it? I am using python 3.8.9 and opencv 4.7.0.