[SPARK-31126][SS] Upgrade Kafka to 2.4.1
[SPARK-31126][SS] Upgrade Kafka to 2.4.1

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

This PR (SPARK-31126) aims to upgrade Kafka library to bring a client-side bug fix like KAFKA-8933

### Why are the changes needed?

The following is the full release note.
- https://downloads.apache.org/kafka/2.4.1/RELEASE_NOTES.html

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

No

### How was this patch tested?

Pass the Jenkins with the existing test.

Closes #27881 from dongjoon-hyun/SPARK-KAFKA-2.4.1.

Authored-by: Dongjoon Hyun <6ff48b33cbb828151035af58a92f18a39f1d1036@apache.org>
Signed-off-by: Dongjoon Hyun <6ff48b33cbb828151035af58a92f18a39f1d1036@apache.org>

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