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GH-41784: [Packaging][RPM] Use SO version for -libs package name (#41838)

### Rationale for this change

We should use `arrow${SO_VERSION}-libs` not `arrow${MAJOR_VERSION}-libs` to co-exist newer versions and older versions.

### What changes are included in this PR?

Use SO version not major version.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

Yes.
* GitHub Issue: #41784

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