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GH-43167: [C++] Add workaround for missing Boost dependency of Thrift (#43328)

### Rationale for this change

Apache Thrift uses Boost but `thrift.pc` doesn't have `-I${BOOST_INCLUDE_DIR}`. 

### What changes are included in this PR?

Add Boost dependency in our side as a workaround.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

Yes.
* GitHub Issue: #43167

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