Restore hidden tkinter dependency via matplotlib / pyplot (#17305)

Partially reverts #17295. pydrake.systems.planar_scenegraph_visualizer imports matplotlib.pyplot which in turn tries to import tkinter and fails for lack of any other plotting backends being available.
RobotLocomotion · Jun 1, 2022 · e80d001 · e80d001
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diff --git a/setup/mac/binary_distribution/Brewfile b/setup/mac/binary_distribution/Brewfile
@@ -25,6 +25,7 @@ brew 'msgpack-cxx'
 brew 'openblas'
 brew 'pkg-config'
 brew '[email protected]'
+brew '[email protected]'
 brew 'scipy'
 brew 'spdlog'
 brew 'suite-sparse'

diff --git a/setup/ubuntu/binary_distribution/packages-focal.txt b/setup/ubuntu/binary_distribution/packages-focal.txt
@@ -58,6 +58,7 @@ python3-pil
 python3-pydot
 python3-pygame
 python3-scipy
+python3-tk
 python3-tornado
 python3-u-msgpack
 python3-yaml