The last comment that I probbaly should add is that you also need to check if there's api changes between 3.21 and 3.22/3.23 (there probably are). In such a case you need to bump SONAME in d/rules and also change soname in binary packages from 32 to 33/34. This should not be complicated, just need to `mv` some files, that's all (and change soname in rules/cmakelists).
Best, Nilesh
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