### _Why are the changes needed?_
Kyuubi requires Spark 3.1 and above since 1.7.0
### _How was this patch tested?_
- [ ] Add some test cases that check the changes thoroughly including negative and positive cases if possible
- [ ] Add screenshots for manual tests if appropriate
- [ ] [Run test](https://kyuubi.readthedocs.io/en/master/develop_tools/testing.html#running-tests) locally before make a pull request
Closes#4722 from pan3793/spark-3.1.
Closes#4722
e2b4c9ca2 [Cheng Pan] [DOCS] Kyuubi requires Spark 3.1 and above now
Authored-by: Cheng Pan <chengpan@apache.org>
Signed-off-by: Cheng Pan <chengpan@apache.org>