This one is better. It handles resume tokens generated by 3.6/4.0 servers as well as new servers.

ResumeTokenDemo.java

import com.mongodb.client.MongoClients;
import org.bson.BsonDocument;
import org.bson.BsonTimestamp;
import org.bson.Document;

import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.time.ZoneId;
import java.time.ZonedDateTime;
import java.time.format.DateTimeFormatter;
import java.util.HexFormat;
import java.util.Objects;

import static java.time.Instant.ofEpochSecond;

public class ResumeTokenDemo {
    public static void main(String[] args) throws InterruptedException {
        var client = MongoClients.create("mongodb://localhost/?directConnection=false");

        var coll = client.getDatabase("test").getCollection("test");
        coll.insertOne(new Document());
        
        BsonDocument curResumeToken = null;
        try (var cursor = coll.watch().cursor()) {
            while (true) {
                var nextEvent = cursor.tryNext();
                if (nextEvent != null) {
                    System.out.println();
                    System.out.println("Event document key: " + nextEvent.getDocumentKey());
                }
                var latestResumeToken = cursor.getResumeToken();
                if (!Objects.equals(latestResumeToken, curResumeToken)) {
                    curResumeToken = latestResumeToken;
                    var latestOperationTime = getTimestampFromResumeToken(Objects.requireNonNull(curResumeToken));

                    var formattedDate = ZonedDateTime.ofInstant(ofEpochSecond(latestOperationTime.getTime()), ZoneId.of(ZoneId.SHORT_IDS.get("EST")))
                            .format(DateTimeFormatter.ofPattern("u-M-d hh:mm:ss a O"));
                    System.out.println();
                    System.out.println("Resume token operation time: " + formattedDate);
                }
                System.out.print(".");
            }
        }
    }

    /**
     * The resume token has the following structure:
     * <p>
     * 1. It's a document containing a single field named "_data" whose value is a string
     * 2. The string is hex-encoded
     * 3. The first byte is the "canonical type" for a BSON timestamp, encoded as an unsigned byte.  It should always equal 130.
     * 4. The next 8 bytes are the BSON timestamp representing the operation time, encoded as an unsigned long value with big endian byte
     * order (unlike BSON itself, which is little endian).  The {@link BsonTimestamp} class contains the logic for pulling out the
     * seconds since the epoch from that value.  See <a href="http://bsonspec.org">http://bsonspec.org</a> for details.
     * 5. There are more fields encoded in the resume token but we don't need to decode them as operation time is always first
     * @param resumeToken a BSonDocument containing the resume token
     * @return the operation time contained within the resume token
     */
    static BsonTimestamp getTimestampFromResumeToken(BsonDocument resumeToken) {
        if (!resumeToken.containsKey("_data")) {
            throw new IllegalArgumentException("Expected _data field in resume token");
        }
        var data = resumeToken.get("_data");
        byte[] bytes;
        if (data.isString()) {
            // 4.2 servers encode _data as a hex string
            var hexString = data.asString().getValue();
            bytes = HexFormat.of().parseHex(hexString);
        } else if (data.isBinary()) {
            // 3.6 and 4.0 servers encode _data as binary
            bytes = data.asBinary().getData();
        } else {
            throw new IllegalArgumentException("Expected binary or string for _data field in resume token but found " + data.getBsonType());
        }
        var byteBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.BIG_ENDIAN);

        // cast to an int then remove the sign bit to get the unsigned value
        int canonicalType = ((int) byteBuffer.get()) & 0xff;
        if (canonicalType != 130) {
            throw new IllegalArgumentException("Expected canonical type equal to 130, but found " + canonicalType);
        }

        var timestampAsLong = byteBuffer.asLongBuffer().get();
        return new BsonTimestamp(timestampAsLong);
    }
}