update version to v5.21.0 #3090

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Run time

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Job	Run time
build (windows, amd64)	1m 6s
build (windows, 386)	1m 4s
build (freebsd, amd64)	1m 5s
build (freebsd, 386)	1m 4s
build (openbsd, amd64)	1m 1s
build (openbsd, 386)	1m 4s
build (linux, amd64)	1m 2s
build (linux, 386)	1m 0s
build (dragonfly, amd64)	1m 0s
build (darwin, amd64)	1m 4s
build (linux, arm, 7)	58s
build (linux, arm, 6)	1m 6s
build (linux, arm, 5)	1m 1s
build (windows, arm, 7)	1m 0s
build (freebsd, arm, 6)	1m 3s
build (freebsd, arm, 7)	59s
build (openbsd, arm, 6)	1m 5s
build (openbsd, arm, 7)	1m 5s
build (darwin, arm64)	1m 8s
build (linux, arm64)	58s
build (linux, riscv64)	1m 0s
build (linux, loong64)	59s
build (windows, arm64)	1m 7s
build (android, arm64)	41s
build (freebsd, arm64)	59s
build (openbsd, arm64)	58s
build (linux, mips64)	1m 9s
build (linux, mips64le)	59s
build (linux, mipsle)	1m 0s
build (linux, mips)	1m 11s
signature	1m 6s
Build And Push image	0s
	32m 2s