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chore: bump version to 21.0.0-rc.1 #2842

Job	Run time
Build	38s
Contribute Node 20 (windows-latest)	7m 39s
Contribute Node 20 (ubuntu-latest)	1m 49s
Contribute Node 20 (macos-latest)	2m 39s
Test firefox-headless	1m 53s
Test chrome-headless	2m 2s
Test Node 20 (macos-latest)	41s
Test Node 20 (ubuntu-latest)	44s
Test Node 22 (windows-latest)	1m 25s
Test Node 20 (windows-latest)	1m 29s
Test Node 24 (ubuntu-latest)	40s
Test Node 22 (macos-latest)	48s
Test Node 24 (windows-latest)	1m 8s
Test Node 24 (macos-latest)	1m 3s
Test Node 22 (ubuntu-latest)	31s
Branch protection	4s
Publish (NPM)	-1s
	25m 12s