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> error loading module 'lfs' from file '/usr/local/lib/lua/5.1/lfs.so':
>         /usr/local/lib/lua/5.1/lfs.so: undefined symbol: luaL_openlib

luaL_openlib was deprecated already in 5.1. Use luaL_register instead.
Here is the relevant part of the 5.1 luaconf.h:

    /*
    @@ LUA_COMPAT_OPENLIB controls compatibility with old 'luaL_openlib'
    @* behavior.
    ** CHANGE it to undefined as soon as you replace to 'luaL_register'
    ** your uses of 'luaL_openlib'
    */
    #define LUA_COMPAT_OPENLIB

So, ask the lfs authors to fix it or do it yourself.
Yes, as a library writer I'm guilty of not moving to luaL_register.
But I will when I update them to 5.2.

> Was it a deliberate decision to break the 5.1 ABI?

Breaking ABI is expected.