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ARROW-10584: [Rust] [DataFusion] Add SQL support for JOIN ON syntax

The goal of this PR is to add SQL support for joins using the explict `<relation> JOIN <relation> ON <clause>` syntax. There are follow-up JIRA issues filed for supporting other forms of join syntax.

There is no support for compound identifiers or aliases, so this only works if the output from a join has unique colums names. This is enough to support TPC-H queries.

```sql
SELECT
    l_shipmode,
    sum(case
        when o_orderpriority = '1-URGENT'
            OR o_orderpriority = '2-HIGH'
            then 1
        else 0
    end) as high_line_count,
    sum(case
        when o_orderpriority <> '1-URGENT'
            AND o_orderpriority <> '2-HIGH'
            then 1
        else 0
    end) AS low_line_count
FROM
    lineitem JOIN orders ON l_orderkey = o_orderkey
WHERE (l_shipmode = 'MAIL' OR l_shipmode = 'SHIP')
    AND l_commitdate < l_receiptdate
    AND l_shipdate < l_commitdate
    AND l_receiptdate >= '1994-01-01'
    AND l_receiptdate < '1995-01-01'
GROUP BY
    l_shipmode
ORDER BY
    l_shipmode
```

Plan:

```
Sort: #l_shipmode ASC NULLS FIRST
  Aggregate: groupBy=[[#l_shipmode]], aggr=[[SUM(CASE WHEN #o_orderpriority Eq Utf8("1-URGENT") Or #o_orderpriority Eq Utf8("2-HIGH") THEN Int64(1) ELSE Int64(0) END) AS high_line_count, SUM(CASE WHEN #o_orderpriority NotEq Utf8("1-URGENT") And #o_orderpriority NotEq Utf8("2-HIGH") THEN Int64(1) ELSE Int64(0) END) AS low_line_count]]
    Join: l_orderkey = o_orderkey
      Filter: #l_shipmode Eq Utf8("MAIL") Or #l_shipmode Eq Utf8("SHIP") And #l_commitdate Lt #l_receiptdate And #l_shipdate Lt #l_commitdate And #l_receiptdate GtEq Utf8("1994-01-01") And #l_receiptdate Lt Utf8("1995-01-01")
        TableScan: lineitem projection=Some([0, 10, 11, 12, 14])
      TableScan: orders projection=Some([0, 5])
```

Results:

```
+------------+-----------------+----------------+
| l_shipmode | high_line_count | low_line_count |
+------------+-----------------+----------------+
| SHIP       | 6200            | 9262           |
| MAIL       | 6202            | 9324           |
+------------+-----------------+----------------+
Query 12 iteration 0 took 11035 ms
```

Closes #8751 from andygrove/join-sql

Authored-by: Andy Grove <andygrove73@gmail.com>
Signed-off-by: Andy Grove <andygrove73@gmail.com>