Update dependency com.auth0:java-jwt to v4.2.1

This MR contains the following updates:

Package	Change	Age	Adoption	Passing	Confidence
com.auth0:java-jwt	4.2.0 -> 4.2.1

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Release Notes

auth0/java-jwt

v4.2.1

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Security

• Use latest ship orb #​634 (jimmyjames)
• Bump com.fasterxml.jackson.core:jackson-databind to 2.13.4.2 #​630 (evansims)

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