[Python] Calculate time difference between two times using ISO 8601

I have two times for example:

2020-04-06T15:00:07Z 2021-07-28T19:18:02+0000

I am wondering how I can get the desired output of 1 year ago or 2 hours ago

I tried converting the times to seconds then subtracting that and converting the time to the desired output but I just can't find the code in the documentation that allows for that.

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