Legacy System Extension warning when starting Parallels Desktop for Mac on macOS Catalina 10.15.4

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After installing/upgrading to macOS® Catalina 10.15.4 upon starting Parallels Desktop I receive the following notification:

Legacy System Extension
Existing software on your system loaded a system extension signed by “Parallels International GmbH” which will be incompatible with a future version of macOS. Contact the developer for support.


Parallels Desktop uses System Extensions to provide you with the best performance, functionality and seamless experience.
In macOS® Catalina you might see that these System Extensions will be incompatible with a future version of macOS®.
Parallels works closely with Apple® to ensure that Parallels Desktop continues function in all future releases of macOS®.

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