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GH-36885: [Java][Docs] Add substrait dependency to maven build profiles (#36899)

### Rationale for this change

The Java JNI dataset module recently included the Substrait module as a dependency. The dependency was added to the CI scripts, but not added to the build profiles and documentation yet.

### What changes are included in this PR?

- Update maven build profiles
- Update Java build documentation

### Are these changes tested?

I tested locally on MacOS and was able to reproduce + fix with this change.

### Are there any user-facing changes?

No
* Closes: #36885

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