SciML/ModelingToolkit.jl v10.21.0

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ModelingToolkit v10.21.0

Diff since v10.20.0

Merged pull requests:

• feat: more robust inputs/outputs handling (#3795) (@AayushSabharwal)
• feat: add respecialize (#3900) (@AayushSabharwal)
• build: bump minor version (#3904) (@AayushSabharwal)