Update sphinx to 3.4.1 once it's released

See example https://github.com/dask/dask/pull/7000 -> [doc CI](https://github.com/dask/dask/pull/7000/checks?check_run_id=1588693135).

Error:

```python
  File "/usr/local/lib/python3.8/site-packages/sphinx/util/inspect.py", line 193, in getslots
    raise TypeError
TypeError
```

Likely coming from https://github.com/sphinx-doc/sphinx/pull/8423 -> https://github.com/sphinx-doc/sphinx/issues/8480

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Update sphinx to 3.4.1 once it's released #7001

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Uh oh!

Update sphinx to 3.4.1 once it's released #7001

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