Bump zookeeper to 3.9.3 and kafka-clients to 3.7.1 #655

Job	Run time
build-artifact-names	1m 51s
build (8, ubuntu-latest)	19m 4s
code-ql	7m 14s
build (8, windows-latest)	58m 57s
integration-tests (11, ubuntu-latest)	2m 17s
build (11, ubuntu-latest)	18m 40s
resource-tests (11, ubuntu-latest)	1m 46s
build (11, windows-latest)	56m 44s
build (14, ubuntu-latest)	22m 5s
build (14, windows-latest)	53m 5s
	4h 1m 43s

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