[branch-53] chore: update deps for cargo audit (#21415) (#21587)

- Part of #21079

# Rationale
@comphead notes that `cargo audit` is failing on
#21559 (comment)

I previously fixed something similar on `branch-52`: 
- #21415

# Changes 
- Backports the cargo audit dependency updates from #21415 to branch-53

Author: alamb