Besides the few language changes defined in @Francois answer, the main difference is technical. XHTML 1.0 was defined in part as an intermediate step to allow web authors to transition from HTML4 to XHTML syntax.
XHTML 1.1 is a reformulation of the language into a series of modules as the basis for the future development of the language by development specialists, which allows various parts to be promoted under separate editors and working groups, each of which is able to advance at its own pace. You can see the same modulation process with CSS 3.
Whether modulation is a good or useful thing or not is a matter of opinion, and there is some evidence that modulation does not work terribly well.
How this happens, with the following XHTML specification, which is being developed as part of HTML5, which is built mainly as a single monolithic specification, and just a few satellite specifications to increase it.
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