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It's Vector3Stamped now. Most all of the ROS2 TF2 non-Stamped conversions were removed. I don't know the exact reason why, but I'm going to speculate that it has to do with TF2 in general really only supporting Stamped types so the conversions to/from messages really don't need the non-stamped versions anymore. The only exception I can find to that is Quaternion which is needed by the other functions regarding the transform message.
https://github.com/ros2/geometry2/blob/ros2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h#L110.
Just as a policy, if you're using TF2, it's good to use stamped variants so you don't make silly mistakes like misassigning frames/data to their proper timestamps and frames.
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