Unknown prepared statement handler given to mysqld_stmt_execute

After updating ODBC connector to 3.1.20 following errors started to appear:

[ma-3.1.20][11.4.5-MariaDB] Unknown prepared statement handler (4076929023) given to mysqld_stmt_execute

It happens only for one database with quite heavy load...
After downgrade to ODBC 3.1.11 problem disappeared.

We do not use prepared statements at all, but I found in change logs that since ODBC version 3.1.18 it started to send:
SET STATEMENT max_statement_time=3600 FOR SELECT ....
(We access database through ADODB.Connection with set CommandTimeout)

So I guess it could be related...

Unfortunately I'm not able to reproduce it, as it seems to be related to some concurrent requests...
Tested with MariaDB server 11.4.4 and 11.4.5...
I may try versions 3.1.17 and 3.1.18 if the problem really came with this version...