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chore: bump version to 21.0.0-rc.1 (#3751) #2843

Job	Run time
Contribute Node 20 (windows-latest)	5m 52s
Contribute Node 20 (ubuntu-latest)	2m 5s
Build	39s
Contribute Node 20 (macos-latest)	3m 8s
Test firefox-headless	1m 59s
Test chrome-headless	1m 37s
Test Node 22 (ubuntu-latest)	43s
Test Node 22 (macos-latest)	37s
Test Node 22 (windows-latest)	1m 31s
Test Node 24 (ubuntu-latest)	44s
Test Node 24 (windows-latest)	1m 25s
Test Node 20 (ubuntu-latest)	42s
Test Node 24 (macos-latest)	45s
Test Node 20 (windows-latest)	1m 18s
Test Node 20 (macos-latest)	56s
Branch protection	4s
Publish (NPM)	15s
	24m 20s