The same deprecation error as in j-guyon's bundle happens here. See:
j-guyon#199
This has happened before (see j-guyon#179) which could be fixed with an entry in services.yml.
I wonder why it makes a difference to execute "command list --format=xml" through the CommandParser or via the shell (where the error doesn't show).
Using your version 3 with PHP 7.4.20 and symfony 5.3.3