Upgrade to Jakarta XML SOAP and SAAJ Impl 3.0.0

Closes gh-33053
Closes gh-33057

spring-boot-project/spring-boot-dependencies/build.gradle

@@ -558,10 +558,7 @@ bom {
 			]
 		}
 	}
-	library("Jakarta XML SOAP", "2.0.1") {
+	library("Jakarta XML SOAP", "3.0.0") {
-		prohibit("[3.0.0-RC1,)") {
-			because "it exceeds our Jakarta EE 9 baseline"
-		}
 		group("jakarta.xml.soap") {
 			modules = [
 					"jakarta.xml.soap-api"
@@ -1273,10 +1270,7 @@ bom {
 			]
 		}
 	}
-	library("SAAJ Impl", "2.0.1") {
+	library("SAAJ Impl", "3.0.0") {
-		prohibit("[3.0.0-M1,)") {
-			because "it exceeds our Jakarta EE 9 baseline"
-		}
 		group("com.sun.xml.messaging.saaj") {
 			modules = [
 				"saaj-impl"