Makefile: Update doxygen requirements

MFC after: 3 days
Reviewed by: imp, ziaee
Signed-off-by: Minsoo Choo <minsoochoo0122@proton.me>
Closes: https://github.com/freebsd/freebsd-src/pull/1869

(cherry picked from commit d2f1c8e0d1bebab9fba32d69d261abc101f368ba)