You can download older versions of any plugin hosted on WordPress.org directly from the website or from WP-CLI.
To download older plugin versions from WordPress.org click on the Advanced view link

scroll down to the end of the page and under Previous Versions select the version that you would like to download.

that’s it!
Another way to download older plugin versions from wordpress.org is by using WP-CLI:
First, you need to know the plugin slug, in this example, I will use the YoastSEO plugin that has a slug wordpress-seo

Then using wpcli first uninstall the current plugin version:
wp plugin delete wordpress-seo
and then install a specific older version of the plugin:
wp plugin install wordpress-seo --version=5.3 --activate
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