For me, rdesktop 1.8.4 works, but rdesktop 1.8.5 and rdesktop 1.8.6 do not.
My best guess is the change from openssl to nettle for cipher handling.
XP support may not be prioritized, but neither should it be broken.
Even Microsoft accepts that there is an on-going and large install base of Windows XP, as evidenced by the patch release on May 14 2019 for CVE-2019-0708.
Like others, I am in a cleft stick. For me, I need to access instrument control software that runs in Windows XP but not later versions, but still want the enhanced security of versions of rdesktop > 1.8.4.