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ci: Update ci.yaml to introduce Java 21 unit testing (#1907) (#2019) #5060

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Run time

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Job	Run time
javadoc	1m 50s
dependencies (17)	1m 16s
units (11)	2m 27s
units (17)	3m 3s
units (8)	2m 38s
windows	3m 47s
units (21)	2m 46s
clirr	49s
lint	59s
	19m 35s