[cmake] Fail fast on too-old Bazel 3.x (RobotLocomotion#18637)

Set the same minimum version as the Bazel WORKSPACE.

CMakeLists.txt

@@ -85,7 +85,7 @@ endif()
 
 # The version passed to find_package(Bazel) should match the
 # minimum_bazel_version value in the call to versions.check() in WORKSPACE.
-set(MINIMUM_BAZEL_VERSION 3.0)
+set(MINIMUM_BAZEL_VERSION 4.0)
 find_package(Bazel ${MINIMUM_BAZEL_VERSION} MODULE REQUIRED)
 
 get_filename_component(C_COMPILER_REALPATH "${CMAKE_C_COMPILER}" REALPATH)