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What kind of change does this PR introduce?
dependency update
What is the current behavior?
What is the new behavior (if this is a feature change)?**
use go1.21 for our CI and builds/releases
keep go1.19 in our go.mod as we don't currently use any 1.20 or 1.21 features. this is for our dependents.
Tests for the changes have been added (for bug fixes/features)
Which issue(s) this PR fixes
#3386
Special notes for your reviewer
Does this PR introduce a user-facing change?
For user-facing changes, please add a concise, human-readable release note to
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(In particular, describe what changes users might need to make in their
application as a result of this pull request.)