I have tested all three packages and they seem to work as intended. The
updated packages also log the correct ssh fingerprint. Below is the log
output of all versions as well as ssh-keygen -l for comparison.

bionic with version 0.10.3-1ubuntu0.1
sec-bionic-amd64 sudo[11266]: pam_ssh_agent_auth: Found matching RSA key: 
SHA256:ySD/CRV7ouZZ46dKYAxPYRpgB8nSmHZ/cU8v0vwAwX0

focal with version 0.10.3-3ubuntu1.20.04.1:
sec-focal-pam-amd64 sudo[3692]: pam_ssh_agent_auth: Found matching RSA key: 
SHA256:ySD/CRV7ouZZ46dKYAxPYRpgB8nSmHZ/cU8v0vwAwX0

impish version 0.10.3-3ubuntu1.21.10.1:
sec-impish-amd64 sudo[3214]: pam_ssh_agent_auth: Found matching RSA key: 
SHA256:ySD/CRV7ouZZ46dKYAxPYRpgB8nSmHZ/cU8v0vwAwX0

ssh-keygen for comparsion:
user@kischte:~$ ssh-keygen -lf .ssh/id_rsa
4096 SHA256:ySD/CRV7ouZZ46dKYAxPYRpgB8nSmHZ/cU8v0vwAwX0 user@kischte (RSA)

I also tested with fips enabled to make sure it no longer segfaults.
On focal with libpam-ssh-agent-auth=0.10.3-3ubuntu1 i got:

user@sec-focal-pam-amd64:~$ sudo ls
Segmentation fault (core dumped)

focal with libpam-ssh-agent-auth=0.10.3-3ubuntu1.20.04.1 fixes the
segfault:

user@sec-focal-pam-amd64:~$ sudo ls
test

** Tags removed: verification-needed verification-needed-bionic 
verification-needed-focal verification-needed-impish
** Tags added: verification-done verification-done-bionic 
verification-done-focal verification-done-impish

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https://bugs.launchpad.net/bugs/1964486

Title:
  crash when in FIPS mode

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