py-zmq: updated to 23.2.1

23.2.1

Improvements:

- First release with wheels for Python 3.11 (thanks cibuildwheel!).
- linux aarch64 wheels now bundle the same libzmq (4.3.4) as all other builds,
  thanks to switching to native arm builds on CircleCI.

Fixes:

- Some type annotation fixes in devices.

(adam)