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GH-34921: [C++][Python][Java] Require CMake 3.16 or later (#35921)

### Rationale for this change

We need to support Ubuntu 20.04 (CMake 3.16) or later, CentOS 7 (CMake 3.17) or later, and Debian GNU/Linux bullseye (CMake 3.18) or later.

So we can require CMake 3.16 or later.

### What changes are included in this PR?

Require CMake 3.16 or later.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

Yes.
* Closes: #34921

Authored-by: Sutou Kouhei <kou@clear-code.com>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>