Support prepared statement parameter type inference

[avantgardnerio]

Is your feature request related to a problem or challenge? Please describe what you are trying to do.

When implementing FlightSQL, it was observed that the prepare ... syntax that our prepared statement code expects is not present. This is problematic, because there is no syntax from which to find type declarations. When comparing to how the JDBC client behaves, it appears to expect parameter types to be inferred.

Describe the solution you'd like

1. Don't require prepare ... syntax (just allow a regular query to be prepared as a statement)
2. Infer the parameter types
3. Add a method to return inferred types

Describe alternatives you've considered

1. Have all existing JDBC code rewritten to support the model as present in DataFusion today
2. Do not support prepared statements
3. Always return a generic type like "String" or "Object" and coerce

[avantgardnerio]

Accidental duplicate of #4683