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GH-45505: [CI][R] Use Ubuntu 22.04 instead of 20.04 as much as possible for nightly jobs (#45507)

### Rationale for this change

Ubuntu 20.04 will reach EOL on 2025-05.

### What changes are included in this PR?

* Use Ubuntu 22.04 instead of Ubuntu 20.04 for Apache Arrow C++ 4.0.0 or later.
* Keep using Ubuntu 20.04 for Apache Arrow C++ 3.0.0 or earlier because we can't build Apache Arrow C++ 3.0.0 or earlier on Ubuntu 22.04. We can use pre-built binaries forApache Arrow C++ 3.0.0 or earlier on Ubuntu 20.04.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

No.
* GitHub Issue: #45505

Authored-by: Sutou Kouhei <kou@clear-code.com>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>