Following the release of iOS 13.5 on May 20, Apple has stopped signing iOS 13.4.1, which means downgrading to that version of iOS is no longer possible.
iOS 13.4.1 was a minor update that addressed a bug that prevented devices running iOS 13.4 from participating in FaceTime calls with devices running iOS 9.3.6 and earlier.
Apple routinely stops signing older versions of software updates after new releases come out in order to encourage customers to keep their operating systems up to date.
iOS 13.5 is the current publicly available version of iOS, with the update introducing the Exposure Notification API, faster passcode entry when wearing a mask, changes to Group FaceTime, and more.
Apple has also stopped signing iOS 12.4.6 for older devices.
There could soon be another iOS update released as a jailbreaking tool that works with all devices running iOS 11 to iOS 13.5 was released on Sunday.
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1) go to https://tsssaver.1conan.com/
2) save the SHSH2-blobs every time a new version appears (they are a kind of cryptographic signature specific for your device and iOS version)
3) when you want to downgrade download the saved blobs and download the ipsw for the desired iOS version
4) sign the ipsw using the downloaded SHSH2-blobs
5) drag the signed ipsw into iTunes to downgrade