Must signed.version be incremented every time a role is re-signed?

Description of issue or feature request:

After reading the TUF specification and studying the basic_repo.py example, one thing remains unclear to me:

When exactly do we need to increment signed.version?

It is clear that we need to increment the signed.version after e.g. adding a new target, as detailed in the basic_repo.py example.

However, what if we only modify signed.expires, after a role has expired, without changing anything else? Do we also need to increment signed.version in that case? That would imply e.g. the version of timestamp is incremented every time it is re-signed.

In general, do we need to increment a role's signed.version every time we re-sign that role, without exception?

Current behavior:

It is not explicitly clear from the documentation when signed.version needs to be incremented.

Expected behavior:

It would be very helpful if the documentation/specification could clarify this point explicitly.

Perhaps the basic_repo.py example could also show a snippet where an expired timestamp is re-signed (without any changes to the root, targets, or snapshot metadata).

Start with the linked TUF specification's timestamp file-format section, then compare the signed.version handling in examples/repo_example/basic_repo.py and the referenced tuf/api/metadata.py locations. Review the existing discussion before deciding on wording. Done means the documentation explicitly explains when re-signing requires a version increment and includes the requested expired-timestamp example.