Please advice on the issue Could not initialize class io.appium.java_client.remote.AppiumCommandExecutor

The problem

After upgrading to Appium 1.21.0 I have an issue
Could not initialize class io.appium.java_client.remote.AppiumCommandExecutor

Environment

• Appium version (or git revision) that exhibits the issue: 1.21.0
• Last Appium version that did not exhibit the issue (if applicable): 1.18.3
• Desktop OS/version used to run Appium: 1.20.2
• Node.js version (unless using Appium.app|exe): 15.12.0
• Npm or Yarn package manager: npm 7.6.3
• Mobile platform/version under test: iOS (12.2 / 14.1 / 13.6)
• Real device or emulator/simulator: Real device
• Appium CLI or Appium.app|exe: CLI

Details

FAILED: testMavenExecution
java.lang.NoSuchFieldError: Companion
at okhttp3.internal.Util.(Util.kt:71)
at okhttp3.internal.concurrent.TaskRunner.(TaskRunner.kt:309)
at okhttp3.ConnectionPool.(ConnectionPool.kt:41)
at okhttp3.ConnectionPool.(ConnectionPool.kt:47)
at org.openqa.selenium.remote.internal.OkHttpClient$Factory.(OkHttpClient.java:116)
at org.openqa.selenium.remote.http.HttpClient$Factory.createDefault(HttpClient.java:66)
at org.openqa.selenium.remote.HttpCommandExecutor.(HttpCommandExecutor.java:47)
at io.appium.java_client.AppiumDriver.(AppiumDriver.java:97)
at io.appium.java_client.ios.IOSDriver.(IOSDriver.java:90)
at com.appium.manager.AppiumDriverManager.getLocalAppiumDriver(AppiumDriverManager.java:80)
at com.appium.manager.AppiumDriverManager.initialiseDriver(AppiumDriverManager.java:55)
at com.appium.manager.AppiumDriverManager.startAppiumDriverInstance(AppiumDriverManager.java:116)
at com.appium.manager.AppiumDriverManager.startAppiumDriverInstance(AppiumDriverManager.java:122)
at com.appium.manager.AppiumParallelTestListener.onTestStart(AppiumParallelTestListener.java:163)
at org.testng.internal.TestListenerHelper.runTestListeners(TestListenerHelper.java:103)
at org.testng.internal.TestInvoker.runTestResultListener(TestInvoker.java:219)
at org.testng.internal.TestInvoker.invokeMethod(TestInvoker.java:569)
at org.testng.internal.TestInvoker.invokeTestMethod(TestInvoker.java:173)
at org.testng.internal.MethodRunner.runInSequence(MethodRunner.java:46)
at org.testng.internal.TestInvoker$MethodInvocationAgent.invoke(TestInvoker.java:824)
at org.testng.internal.TestInvoker.invokeTestMethods(TestInvoker.java:146)
at org.testng.internal.TestMethodWorker.invokeTestMethods(TestMethodWorker.java:146)
at org.testng.internal.TestMethodWorker.run(TestMethodWorker.java:128)
at java.util.ArrayList.forEach(ArrayList.java:1259)
at org.testng.TestRunner.privateRun(TestRunner.java:794)
at org.testng.TestRunner.run(TestRunner.java:596)
at org.testng.SuiteRunner.runTest(SuiteRunner.java:377)
at org.testng.SuiteRunner.access$000(SuiteRunner.java:28)
at org.testng.SuiteRunner$SuiteWorker.run(SuiteRunner.java:418)
at org.testng.internal.thread.ThreadUtil.lambda$execute$0(ThreadUtil.java:64)
at java.util.concurrent.FutureTask.run$$$capture(FutureTask.java:266)
at java.util.concurrent.FutureTask.run(FutureTask.java)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
at java.lang.Thread.run(Thread.java:748)

FAILED: testSuspendONP
java.lang.NoClassDefFoundError: Could not initialize class io.appium.java_client.remote.AppiumCommandExecutor
at io.appium.java_client.AppiumDriver.(AppiumDriver.java:97)
at io.appium.java_client.ios.IOSDriver.(IOSDriver.java:90)
at com.appium.manager.AppiumDriverManager.getLocalAppiumDriver(AppiumDriverManager.java:80)
at com.appium.manager.AppiumDriverManager.initialiseDriver(AppiumDriverManager.java:55)
at com.appium.manager.AppiumDriverManager.startAppiumDriverInstance(AppiumDriverManager.java:116)
at com.appium.manager.AppiumDriverManager.startAppiumDriverInstance(AppiumDriverManager.java:122)
at com.appium.manager.AppiumParallelTestListener.onTestStart(AppiumParallelTestListener.java:163)
at org.testng.internal.TestListenerHelper.runTestListeners(TestListenerHelper.java:103)
at org.testng.internal.TestInvoker.runTestResultListener(TestInvoker.java:219)
at org.testng.internal.TestInvoker.invokeMethod(TestInvoker.java:569)
at org.testng.internal.TestInvoker.invokeTestMethod(TestInvoker.java:173)
at org.testng.internal.MethodRunner.runInSequence(MethodRunner.java:46)
at org.testng.internal.TestInvoker$MethodInvocationAgent.invoke(TestInvoker.java:824)
at org.testng.internal.TestInvoker.invokeTestMethods(TestInvoker.java:146)
at org.testng.internal.TestMethodWorker.invokeTestMethods(TestMethodWorker.java:146)
at org.testng.internal.TestMethodWorker.run(TestMethodWorker.java:128)
at java.util.ArrayList.forEach(ArrayList.java:1259)
at org.testng.TestRunner.privateRun(TestRunner.java:794)
at org.testng.TestRunner.run(TestRunner.java:596)
at org.testng.SuiteRunner.runTest(SuiteRunner.java:377)
at org.testng.SuiteRunner.access$000(SuiteRunner.java:28)
at org.testng.SuiteRunner$SuiteWorker.run(SuiteRunner.java:418)
at org.testng.internal.thread.ThreadUtil.lambda$execute$0(ThreadUtil.java:64)
at java.util.concurrent.FutureTask.run$$$capture(FutureTask.java:266)
at java.util.concurrent.FutureTask.run(FutureTask.java)
at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
at java.lang.Thread.run(Thread.java:748)

Link to Appium logs

<script src="https://gist.github.com/chuklov/aea7b888ded0a493dce14fe3e8839cf5.js"></script>

Start by reproducing the failure in testMavenExecution and testSuspendONP with the listed Appium, Java client, Selenium, and OkHttp stack context. Trace the first NoSuchFieldError from okhttp3.internal.Util through AppiumDriver and AppiumCommandExecutor; done means identifying a reproducible compatibility cause and documenting a verified resolution.