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ci: Update ci.yaml to introduce Java 21 unit testing (#1907) #5059

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Run time

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Job	Run time
javadoc	1m 54s
dependencies (17)	1m 23s
lint	1m 34s
units (8)	2m 37s
windows	3m 36s
units (11)	2m 31s
clirr	52s
units (17)	2m 38s
units (21)	3m 14s
	20m 19s