Remove legacy/jakarta Undertow as we only need one, and upgrade to the latest to fix CVEs (#44901)

Closes #44814

Signed-off-by: stianst <stianst@gmail.com>

pom.xml

@@ -118,9 +118,7 @@
         <sun.xml.ws.version>4.0.0</sun.xml.ws.version>
         <sun.activation.version>1.2.2</sun.activation.version>
         <org.glassfish.jaxb.xsom.version>2.3.3-b02</org.glassfish.jaxb.xsom.version>
-        <undertow.version>${undertow-legacy.version}</undertow.version>
-        <undertow-legacy.version>2.2.24.Final</undertow-legacy.version>
-        <undertow-jakarta.version>2.3.2.Final</undertow-jakarta.version>
+        <undertow.version>2.3.20.Final</undertow.version>
         <wildfly-elytron.version>2.6.5.Final</wildfly-elytron.version>
         <elytron.undertow-server.version>1.9.0.Final</elytron.undertow-server.version>
         <woodstox.version>6.0.3</woodstox.version>

testsuite/integration-arquillian/pom.xml

@@ -52,7 +52,6 @@
         <arquillian-wildfly-container.version>3.0.1.Final</arquillian-wildfly-container.version>
         <arquillian-wls-container.version>1.0.1.Final</arquillian-wls-container.version>
         <arquillian-infinispan-container.version>1.2.0.Beta3</arquillian-infinispan-container.version>
-        <undertow.version>${undertow-jakarta.version}</undertow.version>
         <undertow-embedded.version>1.0.0.Final</undertow-embedded.version>
         <version.org.wildfly.extras.creaper>2.0.3</version.org.wildfly.extras.creaper>
         <jakarta.persistence-legacy.version>2.2.3</jakarta.persistence-legacy.version>

testsuite/utils/pom.xml

@@ -162,7 +162,6 @@
         <dependency>
             <groupId>io.undertow</groupId>
             <artifactId>undertow-servlet</artifactId>
-            <version>${undertow-jakarta.version}</version>
         </dependency>
         <dependency>
             <groupId>org.keycloak</groupId>