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GH-38909: [Packaging] Drop support for Ubuntu 23.04 (#38910)

### Rationale for this change

It will reach EOL on 2024-01 and our next major release will not be happen in this year.

### What changes are included in this PR?

Remove Ubuntu 23.04 related codes and files.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

Yes.
* Closes: #38909

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