In Ruby 3.0.0, rexml is promoted from a "standard gem" to a "bundled gems", which means it will no longer be "required by default". It needs to be added to the gemspec.
See https://www.ruby-lang.org/en/news/2020/09/25/ruby-3-0-0-preview1-released/, heading "Other notable changes since 2.7".
The failure: https://github.com/twingly/twingly-http/runs/1487237058?check_suite_focus=true#step:5:14