I've noticed this in an astroquery RTD build that used sphinx 9.0.1 and automodapi 0.21.0. It is not clear why we don't see it in CI here.

sphinx_automodapi/smart_resolver.py:111: RemovedInSphinx10Warning: The tuple interface for _InventoryItem objects is deprecated. Please access the project_name, project_version, uri, and displayname attributes directly.

  newtarget = inventory[prefix]['py:class'][reftarget][2]