[drake] Upgrade to v1.23.0 #319
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Upgrade to bazel 6.4.0
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Self-stamp +@EricCousineau-TRI
Reviewable status: 0 of 3 files reviewed, all discussions resolved (waiting on @EricCousineau-TRI)
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Reviewed 3 of 3 files at r1, all commit messages.
Reviewable status:complete! all files reviewed, all discussions resolved (waiting on @EricCousineau-TRI)
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Resolves #318
This change is