I managed a walkaround to do this without any plugins and still run in the Jenkins free style project. Add two execute shells and in first shell enter the below shell commands.
export M2_HOME=/var/jenkins_home/tools/hudson.tasks.Maven_MavenInstallation/Maven3
export PATH=$PATH:$M2_HOME/bin
mvn --version
cd CommonPagesStorage
mvn clean install -DskipTests
cd ..
cd MultiWebdriverDemo
mvn clean test -Dmaven.test.failure.ignore=true -Dsurefire.suiteXmlFiles=TestSuites/${TestPlanName}
echo "${TestPlanName}is ran"
#Dmaven.test.failure.ignore=true added this so even the script failed it doesn't mark as fail and mark it as unstable and continue.
In the second shell command ,conditionally checks the testng-failed.xml is exists if so run it to run the failed test cases.
cd MultiWebdriverDemo
export M2_HOME=/var/jenkins_home/tools/hudson.tasks.Maven_MavenInstallation/Maven3
export PATH=$PATH:$M2_HOME/bin
mvn --version
#this to print current directory.
echo "the second Script executed from: ${PWD}"
if [ -e ./target/surefire-reports/testng-failed.xml ]
then
echo "ok file found pass"
mvn test -Dmaven.test.failure.ignore=true -Dsurefire.suiteXmlFiles=target/surefire-reports/testng-failed.xml
else
echo "file not found passed in first attempt ..."
exit 0
#exit 0 means forcefully mark it as passed
fi
if [ -e ./target/surefire-reports/testng-failed.xml ]
then
echo "Rerun also failed exiting with buil state as failure "
exit 1
#exit 1 means forcefully mark it as failed
else
echo "file not found rerun is passed marking the build as passed ..."
exit 0
fi

S0 even in the second time, my webdriver test case is failed, it's failed build mark as a failure.
[INFO] ------------------------------------------------------------------------
[INFO] BUILD SUCCESS
[INFO] ------------------------------------------------------------------------
[INFO] Total time: 16.199 s
[INFO] Finished at: 2021-08-12T14:05:36Z
[INFO] ------------------------------------------------------------------------
+ [ -e ./target/surefire-reports/testng-failed.xml ]
+ echo Rerun also failed exiting with buil state as failure
Rerun also failed exiting with buil state as failure
+ exit 1
Build step 'Execute shell' marked build as failure
Archiving artifacts
TestNG Reports Processing: START
Looking for TestNG results report in workspace using pattern: **/testng-results.xml
Saving reports...
Processing '/var/jenkins_home/jobs/August-FreeStyle/builds/37/testng/testng-results.xml'
100.000000% of tests failed, which exceeded threshold of 0%. Marking build as UNSTABLE
TestNG Reports Processing: FINISH
Finished: FAILURE