Update Docker daemon from 19.03.5 to 20.10.3
As all CI jobs related to docker
CLI are only scheduled and manual on the default branch and XX.XX branches, we need to check if it works after this MR gets merged.
https://docs.docker.com/engine/release-notes/#version-2010
Part of &5121 (closed)
Closes #944 (closed)
Edited by Takuya Noguchi