Add support for jruby 10.1

**Is your feature request related to a problem? Please describe.**

It would be nice to see latest jruby 10.1 supported.

Inspired by https://github.com/elastic/elasticsearch-ruby/pull/3000

**Describe the solution you'd like**

jruby 10.1 should be added to the CI config and the codebase updated to support it. That said it may already work just fine without any runtime code changes.

**Describe alternatives you've considered**

Not an alternative but I already tried adding it and it failed CI due to `pry-nav`, see: https://github.com/elastic/elasticsearch-ruby/pull/3000#issuecomment-4902685975.

**Additional context**

See the PR and comment linked above.