[Java] Bump org.apache.maven dependencies from 3.8.7 to 3.9.6

### 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