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