Thanks you guys for your help!
I have figured out what the issue was, the documentation here is missing some details for on-premise AEM solutions -
I am using archetype 23 that is used for both AEM as a cloud service and on-premise AEM 6.5. The documentation is only referring to the updates for the cloud service.
This is how I got it fixed for ui.apps project and got the ACS AEM Commons bundle was available -
ui.apps/pom.xml
Add a dependency for the acs aem commons content package -
<dependency>
<groupId>com.adobe.acs</groupId>
<artifactId>acs-aem-commons-content</artifactId>
<version>${com.adobe.acs.acs-aem-commons.version}</version>
<type>content-package</type>
<classifier>min</classifier> <!-- optional, 'full' only includes Twitter integration (with 3rd party dependency on twitter4j) -->
</dependency>
Add ACS AEM Commons package as Embed dependency for filevault-package-maven-plugin -
<embedded>
<groupId>com.adobe.acs</groupId>
<artifactId>acs-aem-commons-content</artifactId>
<target>/apps/<my-project-name>/install</target>
</embedded>