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insmod requires full path name for insert, modprobe is more flexible.

/lib/modules/<version>/modules.dep lists module dependencies. All modules must be listed in this file, or else modprobe won't find it (although insmod can).

"invalid module format" probably means a kernel version discrepancy.

some versions of modprobe allow modprobe --dump-versions and this will show the numbers for the symbols (CRCs?) to allow comparison

Driver re-init

Find the name of the driver, then sudo rmmod <driver> && sudo modprobe <driver>