As you already know, Maven was designed to make sure that you will never have two JARs with the same coordinate (group + artifact id) but different versions on the classpath.
There is no way to achieve what you want without modifying the POMs of the JARs
So you need a workaround. Here are a couple of solutions:
Give the JARs different classifiers. Typical classifiers are "tests" and "sources" but they can be anything.
Move the version number to the artifact id and give the two JARs a new version.
For all approaches, you will need to download the JARs (and probably their POMs as well) and install them again using mvn file:install
(after changing the POMs) or deploy them with mvn deploy:file
if you run your own Maven proxy.