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It was a bug in the generated code: python-asana's rest.py used the deprecated HTTPResponse.getheaders() call. The fix was to regenerate with a newer swagger-codegen, and it shipped in v5.0.5 (v5.0.4's publish workflow failed, so the fix landed in v5.0.5). Update to python-asana 5.0.5 or newer and the warning goes away. It was cosmetic only — the actual error handling still worked — but on newer urllib3 versions the deprecated method would have been removed entirely, so updating matters.
Source: https://github.com/Asana/python-asana/issues/192
Source: https://github.com/Asana/python-asana/issues/192