[multibody] Remove unnecessary MbP includes

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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[multibody] Remove unnecessary MbP includes #21625

Closed jwnimmer-tri closed 3 days ago

jwnimmer-tri commented 4 days ago

Towards #21623 and therefore also #20545.

The primary upside here is that changes to discrete_update_manager.h only rebuild a dozen files in the plant folder, rather than everything in Drake.

This change is

jwnimmer-tri commented 4 days ago

+@xuchenhan-tri for platform review per schedule (tomorrow), please.