Up to date utilities are in Bullseye, and can be backported to Buster without any conflict, especially to libc.
apt install pcsc-tools opensc opensc-pkcs11 openssl libengine-pkcs11-openssl
The specified auto-loads the PKCS#11 with OpenSC module.
openssl_conf = openssl_init [openssl_init] engines = eng_pkcs11 [eng_pkcs11] pkcs11 = p11_opensc [p11_opensc] engine_id = pkcs11 dynamic_path = /usr/lib/x86_64-linux-gnu/engines-1.1/libpkcs11.so MODULE_PATH = /usr/lib/x86_64-linux-gnu/opensc-pkcs11.so init = 0