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With the 16.1.0 release, there have been a few issues related to whether this minor / feature release is expected to be ABI stable or expected to have bumped the so version.:
- [Packaging] soversion bumps on minor releases #41659
- [Packaging][deb] libarrow1600 shoud be libarrow1601 for 16.1.0 #41679
- Fix run exports to restrict the minor version conda-forge/arrow-cpp-feedstock#1409
Our release scripts do bump the so version for minor releases, as has been discussed and implemented around the time of the first 1.0.0 release (#4801, mailing list thread).
However, we don't document this policy anywhere AFAIK (and there was clearly also confusion about this among the committers as well). We should document this in the C++ docs somewhere, that the so version is bumped for every major and minor version, and thus consequently that bug-fix releases are expected to be ABI stable.