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It looks like the python3 version got upgraded after running Homebrew to install another package as seen by:

python3 --version
Python 3.9.0

I removed the symbolic link and pointed it to the previous version

rm /usr/local/bin/python3
ln -s /usr/local/Cellar/python@3.8/3.8.6_1/bin /usr/local/bin/python3

rqt ran sucessfully after that.

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