Red Hat Lightwell has released org.apache.zookeeper:zookeeper 3.5.7.rhlw-00001 with a backported security fix.
CVE-2023-44981: Apache ZooKeeper: Authorization bypass in SASL Quorum Peer Authentication
This patched artifact is a drop-in replacement for org.apache.zookeeper:zookeeper 3.5.7 from Maven Central.