Slow ofMany relationship in Laravel for MariaDB

What I've got

I've a base model which looks like this :

Schema::create('prospects', function (Blueprint $table) {
    $table->id();
});


class Prospect extends Model
{
    public function latestStep()
    {
        return $this->hasOne(Step::class)
            ->ofMany([
                'date' => 'max',
                'id'   => 'max',
            ]);
    }
}

And a related one :

Schema::create('steps', function (Blueprint $table) {
    $table->id();
    $table->foreignId('prospect_id')->constrained();
    $table->datetime('date');
});


class Step extends Model
{
}

When I want to retrieve prospects which has a latestStep I go like this :

Prospect::whereHas('latestStep')->limit(10)->get();

The generated database request looks like this :

SELECT *
FROM `prospects`
WHERE EXISTS (
    SELECT *
    FROM `steps`
    INNER JOIN (
        SELECT max(`steps`.`id`) AS `id_aggregate`, `steps`.`prospect_id`
        FROM `steps`
        INNER JOIN (
            SELECT max(`steps`.`date`) AS `date_aggregate`, `steps`.`prospect_id`
            FROM `steps`
            GROUP BY `steps`.`prospect_id`
        ) AS `latestStep`
            ON `latestStep`.`date_aggregate` = `steps`.`date`
            AND `latestStep`.`prospect_id` = `steps`.`prospect_id`
        GROUP BY `steps`.`prospect_id`
    ) AS `latestStep`
        ON `latestStep`.`id_aggregate` = `steps`.`id`
        AND `latestStep`.`prospect_id` = `steps`.`prospect_id`
    WHERE `prospects`.`id` = `steps`.`prospect_id`
)
LIMIT 10

The problem

On MySQL 5.7 it runs under 500ms for 20k prospects and 40k steps.

BUT on MariaDB 10.6 it takes between 2 to 3 seconds. If I increase the limit to 100, it takes about 20 to 30 seconds.

How can I solve this ? I've thought on putting an index there, but I don't really know on which columns.

Here are the EXPLAIN for MySQL

And MariaDB

Edit 1

I've tried this answer https://stackoverflow.com/a/72121388/3789576 and the timing did not change.

Here is the corresponding EXPLAIN for MariaDB