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[ci] Avoid deprecated Jenkins workspace cleaning #24873

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@tyler-yankee

jenkins-job-builder has a wipe-workspace setting that ensures the directory that's running the job is clean before starting the job. Warning messages indicate this is being deprecated in favor of explicit deletion:

DEPRECATED: The 'Wipe out repository & force clone' extension is deprecated for Pipeline jobs. Pipeline users should use the deleteDir() step instead.

drake-ci already does this (and it's called in each flavor of Jenkinsfile, except DEE which runs unprovisioned and calls out to DEE's pipeline anyways, so is a bit special). So the action here should just be to override JJB's deprecated default with wipe-workspace: false in our job settings, and then verify the observed behavior.

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