The bug
When placing stairs and blocks some of them placed have a shadow-like effect on them as if they are in the dark even though they are properly lit.
Related issues
is duplicated by
relates to
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Let's dig into this a little bit because I think this issue's title is a poor descriptor of the problem and I don't want future bug reports to be wrongly labeled as duplicates of this issue.
This is really an issue with ambient occlusion in smooth lighting, as it only occurs with smooth lighting on (note that minimum and maximum smooth lighting makes no difference, as per https://bugs.mojang.com/browse/MC-58668) and it is unrelated to actual in-game torch or sun light levels. We can see it in full effect if we use an all white texture and night vision:
[media]Some parts are so jarringly un-smooth that it appears that there are some gray blocks, even though there is only 100% white blocks used in the scene.
Contrast with this scene in which wide (2x2) tunnels are used and the ambient occlusion is correct:
[media]
(one might say that you can see some subtle lines here that don't make it "truly" smooth, but this is just a side effect of the linear interpolation, and is unnoticeable once a proper texture is applied.)
I think a better title for this issue would be "Tight spaces break smoothness of smooth lighting's ambient occlusion effect"

Still an issue in 1.14.4 and 19w42a

Still present in 1.15 Pre-release 3

The fabric API alone, seems to fix this somehow. Just thought I would share that here, it might be useful,,,?
[media]
Confirmed for all 20w snapshots, including up to 20w09a.

Confirmed for 20w10a and 11a
[media]

even I reported it 4 times and it did not get fixed. I hope this time it gets fixed.

Confirmed 20w22a. Please add to affected versions!

Can confirm for 1.16 pre relase 5

Affects 20w28a, can I request ownerhip? Original author has been inactive for over a year

Affects all versions through 20w46a.
In addition to that, and while it may not be particularly helpful to talk about a mod on a vanilla bug forum, I thought it was worth mentioning that a popular mod called Sodium fixes both this issue and MC-1531, amongst others. If within reason, someone might want to ask the developer of the mod (JellySquid) to help out with these issues.

Confirmed for 1.16.5 and 21w06a.

Confirmed for 21w10a. Ambient occlusion interacts strangely with smooth lighting, too, creating lots of visual artifacts. I'll attach some screenshots.

Can confirm in 1.17.1.

Can confirm in 21w38a.

Can confirm in 21w40a.

Can confirm for 22w44a

Affects 1.19.4-pre4. I experienced this issue on the west face of a block by digging a 1x2x1 hole in flat terrain

Can confirm in 23w17a.

Still can confirm in 23w18a
Affects 1.20.1 to 1.20.2-pre2

Can confirm in 23w51b.

Can confirm in 1.21.5