[Java] Bump org.apache.maven dependencies from 3.8.7 to 3.9.6
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Description
### Describe the enhancement requested
After apache/arrow#40514 merges (closing apache/arrow#40515), let's try again to bump Maven to 3.9.6.
We should maybe open a new PR that supersedes apache/arrow#39451 because rebasing that might be messy.
### Component(s)
Java
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