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GH-37394: [C++][S3] Use AWS_SDK_VERSION_* instead of try_compile() (#37395)

### Rationale for this change

I don't know why but `try_compile()` based `Aws::SDKOptions::ioOptions` detection seems not work on some environments. Some unrelated errors may be happen.

### What changes are included in this PR?

Using `AWS_SDK_VERSION_{MAJOR,MINOR,PATCH}` instead of `try_compile()`.

Downside: `AWS_SDK_VERSION_*` are available since 1.9.7 or later but `Aws::SDKOptions::ioOptions` is available since 1.9.0. So we can't detect `Aws::SDKOptions::ioOptions` with [1.9.0,1.9.6]. I think that it's acceptable.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

Yes.
* Closes: #37394

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