A recent big feature that was added is better support for multiwindow/multidisplay app testing. See appium-uiautomator2-driver/docs/android-multiwindow.md at master · appium/appium-uiautomator2-driver · GitHub for more details.
Along that some more smaller bugfixes and patches have been done.
In general though, it always makes sense to keep the infrastructure up to date from the pure security perspective. As older software contains multiple (third-party) dependencies with known vulnerabilities.