Upgrade kafka-clients dependency to 3.2.0

[ocadaruma]

Summary

• Upgrade kafka-clients dependency to the latest version
• But should still work with kafka 2.x
• After KAFKA-12415: Prepare for Gradle 7.0 and restrict transitive scope for non api dependencies apache/kafka#10203, several transitive dependencies that decaton currently depend on are moved from compile-classpath to runtime-classpath (implementation gradle config), we need to explicitly add dependencies for them
• Concern:
  • Should this change marked as "breaking change" and bump major version?

[kawamuray]

LGTM, thanks