Change the Elasticsearch Client
The Magento 2.3.1 update adds support for Elasticsearch (ES) 6.x. Magento still provides connectivity for ES 2.x and 5.x but this will need to be specifically enabled.
If you need to run Magento 2.3.1 with Elasticsearch 2.x or 5.x, you must change the Elasticsearch PHP client version.
Both ES 2.x and 5.x are End of Life. Running ES 2.x is strongly discouraged.
Change the Elasticsearch Client version
If you need to work with Elasticsearch 5.x, run the following command:
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composer require "elasticsearch/elasticsearch:~5.1"
If you need to work with Elasticsearch 2.x, run the following command:
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composer require "elasticsearch/elasticsearch:~2.0"
To re-enable Elasticsearch 6.x, run the following command:
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composer require "elasticsearch/elasticsearch:~6.1"
Then configure Elasticsearch within Magento Admin.