springboot 2.3.0.M1 accidentally reverted to using jersey-spring4 rather than jersey-spring5

Hi,

apparently with the move to Gradle we're specifying org.glassfish.jersey.ext:jersey-spring4 again, although we did switch already to jersey-spring5 in #17412. It seems unintentional, so this PR reverts to jersey-spring5.

Let me know what you think. Cheers, Christoph