Sorry if I missed an announcement, but I assume we should now be using the just-released XD 21 for all panel development? And that any pre-releases are now outdated?
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Yes, you can use XD 21 for development. 
Announcements are in the queues, so should be out soon if not already.
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Official XD 21 what’s-new post is now here: XD 21 - plugin panel UI & improved CSS/layout!
And yes, this supersedes any “plugin panel” prerelease builds you were working with previously. You can now submit plugins with panel UI for review & publication to XD users!