BUG #18229: Multiple vacuum queries fail after upgrading to 13.10

The following bug has been logged on the website:

Bug reference:      18229
Logged by:          Ganeshpandi Eswaran
Email address:      ganeshpandi.eswaran@chainsys.com
PostgreSQL version: 13.10
Operating system:   linux
Description:

We are encountering query execution issues on Postgres versions 13.10 to 16.
When we execute numerous vacuum queries with in-application and auto-commit
set to false, we receive the following error.

Error: VACUUM cannot be performed within a pipeline.

The problem appears only after 13.10; previous to 13.09, the same set of
queries runs flawlessly. Could you kindly provide any information you have
regarding other people who are having similar issues, as well as any other
solutions?