[SPARK-43974][CONNECT][BUILD] Upgrade buf to v1.23.1

[panbingkun]

What changes were proposed in this pull request?

The pr aims to upgrade buf from 1.20.0 to 1.23.1

Why are the changes needed?

1.Release Notes:

• https://github.com/bufbuild/buf/releases/tag/v1.23.1
• https://github.com/bufbuild/buf/releases/tag/v1.23.0
• https://github.com/bufbuild/buf/releases/tag/v1.22.0
• https://github.com/bufbuild/buf/releases/tag/v1.21.0

2.The new version brings some bug fixed and improvment, as follow:

• Fix issue where buf beta graph would not print modules within a workspace that
  had no dependencies or dependents.
• Fix issue where buf beta graph would print warnings for missing dependencies
  that were actually present.
• Fix issue where locally-produced images did not have module information if the corresponding
  module was stored in the new cache.
• Remove buf beta registry template.
• Remove buf beta registry plugin {create,deprecate,list,undeprecate,version} and replace with
  buf beta registry plugin {push,delete}.
• Update buf beta price with the latest pricing information.

3.Manually test: dev/connect-gen-protos.sh, this upgrade will not change the generated files.

Does this PR introduce any user-facing change?

No.

How was this patch tested?

• Manually test
• Pass GA

[panbingkun]

In order to address the #41933 issue, the above PR has been reverted and now resubmitted.
@zhengruifeng @HyukjinKwon @LuciferYang

[panbingkun]

Recheck this upgrade will not change the generated files.

[zhengruifeng]

merged to master