[SPARK-29613][BUILD][SS] Upgrade to Kafka 2.3.1

### What changes were proposed in this pull request?

This PR aims to upgrade to Kafka 2.3.1 client library for client fixes like KAFKA-8950, KAFKA-8570, and KAFKA-8635. The following is the full release note.
- https://archive.apache.org/dist/kafka/2.3.1/RELEASE_NOTES.html

### Why are the changes needed?

- [KAFKA-8950 KafkaConsumer stops fetching](https://issues.apache.org/jira/browse/KAFKA-8950)
- [KAFKA-8570 Downconversion could fail when log contains out of order message formats](https://issues.apache.org/jira/browse/KAFKA-8570)
- [KAFKA-8635 Unnecessary wait when looking up coordinator before transactional request](https://issues.apache.org/jira/browse/KAFKA-8635)

### Does this PR introduce any user-facing change?

No.

### How was this patch tested?

Pass the Jenkins with the existing tests.

Closes #26271 from dongjoon-hyun/SPARK-29613.

Authored-by: Dongjoon Hyun <[email protected]>
Signed-off-by: Dongjoon Hyun <[email protected]>

Author: dongjoon-hyun

pom.xml

@@ -136,7 +136,7 @@
     <!-- Version used for internal directory structure -->
     <hive.version.short>1.2.1</hive.version.short>
     <!-- note that this should be compatible with Kafka brokers version 0.10 and up -->
-    <kafka.version>2.3.0</kafka.version>
+    <kafka.version>2.3.1</kafka.version>
     <derby.version>10.12.1.1</derby.version>
     <parquet.version>1.10.1</parquet.version>
     <orc.version>1.5.6</orc.version>