So, its now been three years and several releases of parallels and still no openGL 3.x or newer support, still only 2.1. I'm now dead in the water with parallels because we have recently switched our development projects to "ROS 2" and rviz requires 3.0+ to work

So sad. I guess I'll have to switch to fusion like all the other uses that are effected by this lack of feature velocity. (BTW, I'm on the latests and greets, Parallels 14 - 14.0.1)
from bash---->
$ glxinfo
name of display: :1
display: :1 screen: 0
direct rendering: Yes
server glx vendor string: Parallels Inc
server glx version string: 1.4
server glx extensions:
GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig
client glx vendor string: Parallels Inc
client glx version string: 1.4
client glx extensions:
GLX_ARB_get_proc_address, GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig
GLX version: 1.4
GLX extensions:
GLX_ARB_get_proc_address, GLX_EXT_texture_from_pixmap, GLX_SGIX_fbconfig
OpenGL vendor string: Parallels and Intel Inc.
OpenGL renderer string: Parallels using Intel Iris Pro OpenGL Engine
OpenGL version string: 2.1 INTEL-10.36.19
.......