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GH-42193: [Java] Update dependency to maintain JUnit 5 only (#42206)



### Rationale for this change

We have completed migrating all unit test code from JUnit 4 to JUnit 5 for all Java modules. Now, we are removing the compatibility library `junit-vintage-engine` to maintain JUnit 5 only.

### What changes are included in this PR?

- Removing JUnit 4 dependencies
- Updating remaining `junit.framework.TestCase` imports
- Updating excludes to prevent JUnit 4 dependencies

### Are these changes tested?

Yes.

### Are there any user-facing changes?

No.

* GitHub Issue: #42193

Authored-by: Hyunseok Seo <hsseo0501@gmail.com>
Signed-off-by: David Li <li.davidm96@gmail.com>