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I remember there was some improvement on this topic in 7.6 docs. So it seems these are possiblities:

// Using the API, provides a lazy Provider<String>
println providers.gradleProperty('gradlePropertiesProp').get()

// Using Groovy dynamic names
println gradlePropertiesProp
println settings.gradlePropertiesProp

// Using Groovy dynamic array notation on `settings`
println settings['gradlePropertiesProp']

So if foo can be null I guess your best bet is using a provider or an array notation.

Thank you!