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Try the following:

$ sage -c 'print(SAGE_LOCAL)'

If this prints out a directory, replace the command in your question by

$ sudo jupyter kernelspec install $(sage -c 'print(SAGE_LOCAL)')/share/jupyter/kernels/sagemath

Try the following:

$ sage -c 'print(SAGE_LOCAL)'

If this prints out a directory, replace the command in your question by

$ KERNEL=$(sage -c 'print(SAGE_LOCAL)')/share/jupyter/kernels/sagemath
$ sudo jupyter kernelspec install $(sage -c 'print(SAGE_LOCAL)')/share/jupyter/kernels/sagemath
$KERNEL