I can't reproduce that panic:

# curl 'localhost:9116/snmp?module=if_mib&target=1.1.1.1&debug=true'
An error has occurred while serving metrics:

error collecting metric Desc{fqName: "snmp_error", help: "Error scraping 
target", constLabels: {}, variableLabels: []}: error getting target 
1.1.1.1: request timeout (after 3 retries)

# journalctl -eu snmp_exporter
... (no panic)
Aug 31 11:48:11 prometheus snmp_exporter[207]: level=info 
ts=2021-08-31T11:48:11.386Z caller=collector.go:224 module=if_mib 
target=1.1.1.1 msg="Error scraping target" err="error getting target 
1.1.1.1: request timeout (after 3 retries)"

I am running the official release binary 
(snmp_exporter-0.20.0.linux-amd64.tar.gz) under Ubuntu 20.04.2 LTS x86_64

Can you say:
- which platform are you running on?
- where did your snmp_exporter binary come from?  Are you using a release 
binary, or did you compile it yourself?  If you compiled it yourself, what 
version of go did you use?
- what does this curl command show?
# curl -Ss localhost:9116/metrics | grep build_info

In my case I get:
# HELP snmp_exporter_build_info A metric with a constant '1' value labeled 
by version, revision, branch, and goversion from which snmp_exporter was 
built.
# TYPE snmp_exporter_build_info gauge
snmp_exporter_build_info{branch="HEAD",goversion="go1.15.8",revision="c33572b6c8c8e43a479fde0f9fa8ac86e15598bc",version="0.20.0"}
 
1

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