How can I learn more about AWS's RDS Aurora PostgreSQL 9.6.19 upgrade failure?

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I'm trying to upgrade an RDS database cluster engine from Aurora PostgreSQL 9.6.19 before its end of life, I made copy and tried to upgrade to 9.6.21 and 10.16 but everytime the same problem happens:

Database cluster is in a state that cannot be upgraded: Postgres cluster is in a state where pg_upgrade can not be completed successfully.

The status of the database is Available so maybe it refers to something else but I don't know what and how to fix it, I've tried looking for answers to no avail.

Has anyone fixed this?

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