CXF Soap Starter does not include classes needed for CXF web service

After creating fresh Spring Boot project using Java 17 and adding the camel-cxf-soap-starter dependency per the docs, the application fails to start due to java.lang.ClassNotFoundException: javax.xml.soap.SOAPMessage.

Gradle build file (elided for brevity):

 
plugins

{ id 'java' id 'org.springframework.boot' version '2.7.11' id 'io.spring.dependency-management' version '1.1.0' }

ext

{ camelVersion = '3.20.4' }

dependencies {
implementation 'org.springframework.boot:spring-boot-starter'
implementation "org.apache.camel.springboot:camel-spring-boot-starter:${camelVersion}"
implementation "org.apache.camel.springboot:camel-cxf-soap-starter:${camelVersion}"

testImplementation 'org.springframework.boot:spring-boot-starter-test'
testImplementation "org.apache.camel:camel-test-spring-junit5:${camelVersion}"
}
 
Upgrading to Spring Boot 3 and Camel 4.0.0-M2 removes the startup error but throws this error when attempting to use the CXF component in a Junit5 test:

java.lang.ClassNotFoundException: org.apache.camel.component.cxf.spring.jaxws.CxfSpringEndpointUtils