Spring boot ServletException after LDAP authentication on Tomcat - spring

Question

My spring boot app works correctly when I access it locally on localhost:8080. It authenticated correctly with the LDAP server.
When I deploy it on Apache Tomcat/7.0.76 I get the following error after I authenticate with LDAP:
2021-09-13 11:07:19,814 ERROR org.springframework.boot.web.servlet.support.ErrorPageFilter [http-bio-8080-exec-462] Forwarding to error page from request [/login] due to except
ion [Filter execution threw an exception]
javax.servlet.ServletException: Filter execution threw an exception
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:267)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:208)
at org.springframework.web.filter.RequestContextFilter.doFilterInternal(RequestContextFilter.java:100)
at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:119)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:241)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:208)
at org.springframework.web.filter.FormContentFilter.doFilterInternal(FormContentFilter.java:93)
at org.springframework.web.filter.OncePerRequestFilter.doFilter(OncePerRequestFilter.java:119)
at org.apache.catalina.core.ApplicationFilterChain.internalDoFilter(ApplicationFilterChain.java:241)
at org.apache.catalina.core.ApplicationFilterChain.doFilter(ApplicationFilterChain.java:208)
...
Caused by: java.lang.NoSuchMethodError: javax.servlet.http.HttpServletRequest.changeSessionId()Ljava/lang/String;
at org.springframework.security.web.authentication.session.ChangeSessionIdAuthenticationStrategy.applySessionFixation(ChangeSessionIdAuthenticationStrategy.java:40)
This is my pom.xml:
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>
<parent>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-parent</artifactId>
<version>2.3.2.RELEASE</version>
<relativePath/> <!-- lookup parent from repository -->
</parent>
<groupId>xxx.app</groupId>
<artifactId>xxx-linkingservice</artifactId>
<version>0.0.1-SNAPSHOT</version>
<packaging>war</packaging>
<name>xxx-linkingservice</name>
<description>xxx</description>
<properties>
<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
<project.reporting.outputEncoding>UTF-8</project.reporting.outputEncoding>
<java.version>1.8</java.version>
</properties>
<dependencies>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-web</artifactId>
</dependency>
<!-- tag::when deployed to an external tomcat server include scope=provided[] -->
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-tomcat</artifactId>
<scope>provided</scope>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-thymeleaf</artifactId>
</dependency>
<!-- tag::security[] -->
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-security</artifactId>
</dependency>
<dependency>
<groupId>org.springframework.ldap</groupId>
<artifactId>spring-ldap-core</artifactId>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-ldap</artifactId>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-test</artifactId>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-test</artifactId>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.junit.jupiter</groupId>
<artifactId>junit-jupiter</artifactId>
<version>RELEASE</version>
<scope>test</scope>
</dependency>
</dependencies>
<build>
<!-- tag::attributes is configured on the apache server[] -->
<finalName>attributes</finalName>
<plugins>
<plugin>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-maven-plugin</artifactId>
</plugin>
</plugins>
</build>
</project>
I tried different spring boot parent releases but it did not help. I also cannot find a suitable answer on SO.
Update:
Following #M.Deinum comment I added the following dependency to my pom.xml
<dependency>
<groupId>javax.servlet</groupId>
<artifactId>javax.servlet-api</artifactId>
<version>3.1.0</version>
</dependency>
but this did not help. It appears the method javax.servlet.http.HttpServletRequest.changeSessionId() requires servlet 3.1 as described here and I was hoping adding a servlet-api 3.1 dependency would help.