items = [[1, 2], [2, 3], [2, 1], [1, 2]]
r=[list(i) for i in list({tuple(sorted(c)) for c in items})]
print(r) # [[1, 2], [2, 3]]
или
items = [[1, 2], [2, 3], [2, 1], [1, 2]]
u = [list(x) for x in set(tuple(x) for x in list( sorted(c) for c in items))]
print(u) # [[1, 2], [2, 3]]
или
items = [[1, 2], [2, 3], [2, 1], [1, 2]]
d = list(list(x) for x in { (v,k) if k>=v else (k,v) for k, v in items })
print(d) # [[1, 2], [2, 3]]