Allow newer PyJWT versions for branch 5.3

[bcmills]

Backported from the master branch (#3636).

Pull Request check-list

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Description of change

Allow PyJWT versions newer than 2.9.*, since there are not any known compatibility issues with those. This change is already present in the master branch; it just needs to be backported and released on the 5.3 branch.

[petyaslavova]

Hi @bcmills, thanks for taking the time to prepare this PR! I will merge it today and will prepare a patch release by the end of the week.

[yaming-github]

Hi @petyaslavova may I ask when we will have this patch release in?