Remove commons-lang3 dependency from sdks/java/core

Beam's use of commons-lang3 is pretty minor in particular in core, we should remove this dep and put it in the banned dependency list to avoid any future use of it. The approach could be to extract the minimal utils we need to core.

Other modules that use commons-lang3 provided or in test cope can continue to do still use it.

Imported from Jira [BEAM-9077](https://issues.apache.org/jira/browse/BEAM-9077). Original Jira may contain additional context.
Reported by: iemejia.
Subtask of issue #19193