Java CI with Gradle

chore: upgrade gradle/actions to v6.1.0 with basic cache provider #1525

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Run time

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Job	Run time
Test and Build OpenFGA (17)	1m 57s
Test and Build OpenFGA (25)	1m 49s
Test and Build OpenFGA (21)	1m 53s
publish-maven-central	0s
publish-github-packages	0s
create-release	-1s
	5m 38s