[setup] Upgrade Bazel to latest release 7.4.0 (#22066)

.bazeliskrc

@@ -1,6 +1,7 @@
 # When bazelisk in use (as is typical, per Drake install_prereqs), this dotfile
 # specifies which version of Bazel should be used to build and test Drake.
-USE_BAZEL_VERSION=7.3.2
+# Keep the in sync with doc/_pages/from_source.md (only the major.minor part).
+USE_BAZEL_VERSION=7.4.0
 
 # For some reason the google mirrors are very flaky in Drake CI in EC2, so
 # we'll point to the GitHub mirrors instead.

doc/_pages/from_source.md

@@ -14,9 +14,9 @@ officially supports:
 
 | Operating System ⁽¹⁾               | Architecture | Python ⁽²⁾ | Bazel | CMake | C/C++ Compiler ⁽³⁾           | Java                          |
 |------------------------------------|--------------|------------|-------|-------|------------------------------|-------------------------------|
-| Ubuntu 22.04 LTS (Jammy Jellyfish) | x86_64       | 3.10       | 7.3   | 3.22  | GCC 11 (default) or Clang 15 | OpenJDK 11                    |
-| Ubuntu 24.04 LTS (Noble Numbat)    | x86_64       | 3.12       | 7.3   | 3.28  | GCC 13 (default) or Clang 15 | OpenJDK 21                    |
-| macOS Sonoma (14)                  | arm64        | 3.12       | 7.3   | 3.28  | Apple LLVM 15 (Xcode 15)     | AdoptOpenJDK 16 (HotSpot JVM) |
+| Ubuntu 22.04 LTS (Jammy Jellyfish) | x86_64       | 3.10       | 7.4   | 3.22  | GCC 11 (default) or Clang 15 | OpenJDK 11                    |
+| Ubuntu 24.04 LTS (Noble Numbat)    | x86_64       | 3.12       | 7.4   | 3.28  | GCC 13 (default) or Clang 15 | OpenJDK 21                    |
+| macOS Sonoma (14)                  | arm64        | 3.12       | 7.4   | 3.28  | Apple LLVM 15 (Xcode 15)     | AdoptOpenJDK 16 (HotSpot JVM) |
 | macOS Sequoia (15)                 | arm64        | TBD        | TBD   | TBD   | TBD                          | TBD                           |
 
 "Official support" means that we have Continuous Integration test coverage to