Pivotal Tracker just announced the availability of their API V5 in public beta, starting August 16, 2013. The launch is justified because the application itself has run against the new API version for a long time now.
The new API introduces several improvements, like the ability to get access to all project data, including epics. They also say that everything in and out of the API is now JSON encoded but the activity Web Hooks still POST information using XML.
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