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chore(main): release 3.21.1 #4133

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Job	Run time
units (11)	51s
units (8)	41s
units (17)	56s
units (21)	49s
windows	1m 47s
dependencies (17)	47s
javadoc	1m 7s
lint	1m 0s
clirr	34s
	8m 32s