Это должно решить вашу проблему:
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SOAPBody soapBody = soapResponse.getSOAPBody(); //get body instance from your response
NodeList nodes = soapBody.getElementsByTagName("documentId"); //get documentId property from your body
String documentId = null;
Node node = nodes.item(0); //match the first correspondence
documentId = node != null ? node.getTextContent() : ""; //check if is null otherwise return your match
...