fix(clients/java): Set a defaultRequestTimeout as 10 seconds

[aivinog1]

Description

Backport of #5302

Related issues

closes #4762

Definition of Done

Not all items need to be done depending on the issue and the pull request.

Code changes:

• The changes are backwards compatibility with previous versions
• If it fixes a bug then PRs are created to backport the fix to the last two minor versions

Testing:

• There are unit/integration tests that verify all acceptance criterias of the issue
• New tests are written to ensure backwards compatibility with further versions
• The behavior is tested manually
• The impact of the changes is verified by a benchmark

Documentation:

• The documentation is updated (e.g. BPMN reference, configuration, examples, get-started guides, etc.)
• New content is added to the release announcement

[korthout]

Since 0.23.6 is already frozen, I've added the notes to the 0.23.7 release notes.

[korthout]

bors r+

[zeebe-bors]

Build succeeded:

• continuous-integration/jenkins/branch