Runtime exception ServerPropertiesAutoConfiguration.class cannot be opened because it does not exist - spring-mvc

Question

I have migrated existing project to Spring Boot 2.6.6 and while running application I am getting below exception:
Failed to process import candidates for configuration class; nested exception is java.io.FileNotFoundException: class path resource [org/springframework/boot/autoconfigure/web/ServerPropertiesAutoConfiguration.class] cannot be opened because it does not exist
I tried adding spring-cloud-starter-netflix-hystrix dependency but that didn't resolve the issue.
pom.xml
<dependencies>
<dependency>
<groupId>com.bazaarvoice.jolt</groupId>
<artifactId>jolt-core</artifactId>
<version>0.1.1</version>
<scope>compile</scope>
</dependency>
<dependency>
<groupId>com.bazaarvoice.jolt</groupId>
<artifactId>json-utils</artifactId>
<version>0.1.1</version>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-test</artifactId>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.jacoco</groupId>
<artifactId>org.jacoco.agent</artifactId>
<classifier>runtime</classifier>
<scope>test</scope>
</dependency>
<dependency> <!-- to proxy requests towards backend so they will be non cross origin -->
<groupId>org.springframework.cloud</groupId>
<artifactId>spring-cloud-starter-zuul</artifactId>
<version>1.4.7.RELEASE</version>
</dependency>
<dependency>
<groupId>net.jpmchase.gaia.spring</groupId>
<artifactId>spring-cloud-gaia-connectors</artifactId>
<version>1.0.1</version>
<exclusions>
<exclusion> <!-- declare the exclusion here -->
<groupId>com.mikesamuel</groupId>
<artifactId>json-sanitizer</artifactId>
</exclusion>
</exclusions>
</dependency>
<!-- since the transitive json-sanitizerV1.1 from gaia-connectors is an OSS vulnerability
we are adding the recommended version. This may be fixed automatically once we upgrade our monet boot -->
<dependency>
<groupId>com.mikesamuel</groupId>
<artifactId>json-sanitizer</artifactId>
<version>1.2.1</version>
</dependency>
<dependency> <!-- for spring-retry. Spring-retry also depends on spring AOP -->
<groupId>org.springframework.retry</groupId>
<artifactId>spring-retry</artifactId>
</dependency>
<dependency>
<groupId>org.springframework.boot</groupId>
<artifactId>spring-boot-starter-aop</artifactId>
</dependency>
<!-- Upgrade to resolve blackduck vulnerability -->
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-web</artifactId>
<version>5.6.3</version>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-core</artifactId>
<version>5.6.3</version>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-config</artifactId>
<version>5.6.3</version>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-crypto</artifactId>
<version>5.6.3</version>
</dependency>
<dependency>
<groupId>org.springframework.security.oauth</groupId>
<artifactId>spring-security-oauth2</artifactId>
<version>2.5.1.RELEASE</version>
</dependency>
<dependency>
<groupId>org.springframework.security</groupId>
<artifactId>spring-security-jwt</artifactId>
<version>1.1.1.RELEASE</version>
</dependency>
<!-- Upgrade to resolve blackduck vulnerability -->
<dependency>
<groupId>com.fasterxml.jackson.core</groupId>
<artifactId>jackson-databind</artifactId>
<version>2.13.1</version>
</dependency>
<dependency>
<groupId>org.mockito</groupId>
<artifactId>mockito-all</artifactId>
<version>${org.mockito.version}</version>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.mockito</groupId>
<artifactId>mockito-core</artifactId>
<version>1.9.5</version>
<scope>test</scope>
</dependency>
<dependency>
<groupId>junit</groupId>
<artifactId>junit</artifactId>
</dependency>
<dependency>
<groupId>org.powermock</groupId>
<artifactId>powermock-module-junit4</artifactId>
<version>${org.powermock.api.version}</version>
<scope>test</scope>
</dependency>
<dependency>
<groupId>org.powermock</groupId>
<artifactId>powermock-api-mockito</artifactId>
<version>${org.powermock.api.version}</version>
<scope>test</scope>
</dependency>
<!-- https://mvnrepository.com/artifact/org.springframework/spring-core -->
<dependency>
<groupId>org.springframework</groupId>
<artifactId>spring-core</artifactId>
<version>5.3.17</version>
</dependency>
<!-- https://mvnrepository.com/artifact/org.springframework/spring-web -->
<dependency>
<groupId>org.springframework</groupId>
<artifactId>spring-web</artifactId>
<version>5.3.17</version>
</dependency>
<!-- https://mvnrepository.com/artifact/org.apache.tomcat.embed/tomcat-embed-core -->
<dependency>
<groupId>org.apache.tomcat.embed</groupId>
<artifactId>tomcat-embed-core</artifactId>
<version>9.0.38</version>
</dependency>
<!-- https://mvnrepository.com/artifact/org.bouncycastle/bcprov-jdk15on -->
<dependency>
<groupId>org.bouncycastle</groupId>
<artifactId>bcprov-jdk15on</artifactId>
<version>1.66</version>
</dependency>
<dependency>
<groupId>org.jasypt</groupId>
<artifactId>jasypt</artifactId>
<version>1.9.2</version>
<scope>compile</scope>
</dependency>
</dependencies>