[BEAM-8706][BEAM-12287] Revert "[BEAM-8706] Bump antlr4 to 4.9.2"

[boyuanzz]

This reverts commit f3fab5c

commit f3fab5c breaks KafkaIO performance test: https://ci-beam.apache.org/job/beam_PerformanceTests_Kafka_IO/2282/

Please add a meaningful description for your change here

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ValidatesRunner compliance status (on master branch)

Lang	ULR	Dataflow	Flink	Samza	Spark	Twister2
Go	---			---		---
Java
Python	---			---		---
XLang				---		---

Examples testing status on various runners

Lang	ULR	Dataflow	Flink	Samza	Spark	Twister2
Go	---	---	---	---	---	---	---
Java	---		---	---	---	---	---
Python	---	---	---	---	---	---	---
XLang	---	---	---	---	---	---	---

Post-Commit SDK/Transform Integration Tests Status (on master branch)

Go	Java	Python

Pre-Commit Tests Status (on master branch)

---	Java	Python	Go	Website	Whitespace	Typescript
Non-portable
Portable	---			---	---	---

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GitHub Actions Tests Status (on master branch)

See CI.md for more information about GitHub Actions CI.

[boyuanzz]

Run Java KafkaIO Performance Test

[codecov]

Codecov Report

Merging #14787 (5568951) into master (986d59e) will not change coverage.
The diff coverage is n/a.

@@ Coverage Diff @@## master #14787 +/- ##
=======================================
Coverage 83.78% 83.78% =======================================
Files 439 439 Lines 59117 59117 =======================================
Hits 49532 49532 Misses 9585 9585 

Impacted Files	Coverage Δ
...s/sdks/python/apache_beam/transforms/ptransform.py
...build/srcs/sdks/python/apache_beam/testing/util.py
...x/py38/build/srcs/sdks/python/apache_beam/error.py
...thon/apache_beam/runners/worker/sdk_worker_main.py
...d/srcs/sdks/python/apache_beam/metrics/__init__.py
...e_beam/io/gcp/big_query_query_to_table_pipeline.py
...ython/apache_beam/examples/complete/estimate_pi.py
.../python/apache_beam/io/gcp/resource_identifiers.py
...python/apache_beam/examples/streaming_wordcount.py
...pache_beam/runners/portability/artifact_service.py
... and 868 more

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[boyuanzz]

r: @masahitojp@pabloem

[boyuanzz]

Run Java_Examples_Dataflow PreCommit

[pabloem]

LGTM thanks @boyuanzz