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Update PyO3 to version 0.21. Note that version 0.22 is already released but `pyo3-log` is not compatible yet. I've also noticed that we're not using `pyo3-asyncio` at all, as we only expose a sync API on the Python libs, so I just removed it. With this update and #864 we get rid of any dependencies using `syn 0.x`, which should help a little bit with build times.
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