Allow newer PyJWT versions

[bcmills]

Backported from the master branch (#3636).

Pull Request check-list

Please make sure to review and check all of these items:

• Do tests and lints pass with this change?
• Do the CI tests pass with this change (enable it first in your forked repo and wait for the github action build to finish)?
• Is the new or changed code fully tested?
• Is a documentation update included (if this change modifies existing APIs, or introduces new ones)?
• Is there an example added to the examples folder (if applicable)?

NOTE: these things are not required to open a PR and can be done
afterwards / while the PR is open.

Description of change

Allow PyJWT versions newer than 2.9.*, since there are not any known compatibility issues with those. This change is already present in the master branch; it just needs to be backported and released on the 5.3 branch.