[BEAM-8706] Bump antlr4 to 4.9.2

[masahitojp]

Bump antlr4 to 4.9.2

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Lang	ULR	Dataflow	Flink	Samza	Spark	Twister2
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Java
Python	---			---		---
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Examples testing status on various runners

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Python	---	---	---	---	---	---	---
XLang	---	---	---	---	---	---	---

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---	Java	Python	Go	Website	Whitespace	Typescript
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GitHub Actions Tests Status (on master branch)

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[codecov]

Codecov Report

Merging #14669 (f3fab5c) into master (325471d) will increase coverage by 0.00%.
The diff coverage is n/a.

@@ Coverage Diff @@## master #14669 +/- ##
==========================================
Coverage 83.64% 83.64% ==========================================
Files 443 886 +443 Lines 59007 118064 +59057 ==========================================
+ Hits 49354 98751 +49397 - Misses 9653 19313 +9660 

Impacted Files	Coverage Δ
..._beam/testing/benchmarks/nexmark/queries/query5.py
...38/build/srcs/sdks/python/apache_beam/io/avroio.py
.../srcs/sdks/python/apache_beam/portability/utils.py
...m/testing/benchmarks/chicago_taxi/trainer/model.py
...s/python/apache_beam/testing/synthetic_pipeline.py
...ld/srcs/sdks/python/apache_beam/utils/timestamp.py
...m/runners/portability/spark_uber_jar_job_server.py
...8/build/srcs/sdks/python/apache_beam/utils/urns.py
...ache_beam/coders/proto2_coder_test_messages_pb2.py
.../sdks/python/apache_beam/io/azure/blobstorageio.py
... and 1319 more

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[masahitojp]

Run Python PreCommit

[masahitojp]

Run Java PreCommit

[masahitojp]

R: @reuvenlax

[pabloem]

thanks @masahitojp !

[boyuanzz]

This PR causes KafkaIO test failing since https://ci-beam.apache.org/job/beam_PerformanceTests_Kafka_IO/2241/. I reverted this change in #14787 and triggered the test to confirm that: https://ci-beam.apache.org/job/beam_PerformanceTests_Kafka_IO/2282/.
For more details: https://issues.apache.org/jira/browse/BEAM-12287