Migrate deprecated features in picocli to v4.0

[gfukushima]

PR description

This PR migrates deprecated features in picocli to the recommended for 4.0

• Replaces parseWithHandles by the execute API
• Replaces deprecated interfaces by their equivalent in picocli 4.0

Fixed Issue(s)

Fixes #2701

Documentation

• [X] I thought about documentation and added the doc-change-required label to this PR if updates are required.

Changelog

• [X] I thought about the changelog and included a changelog update if required.