Substrait donation follow-on work

[andygrove]

Is your feature request related to a problem or challenge? Please describe what you are trying to do.
We need to re-apply some PRs from the old repo. This issue is to track the work.

PRs to re-apply:

• Original PR: Change API to return LogicalPlan instead of DataFrame datafusion-contrib/datafusion-substrait#35
  • New PR: [Substrait] Change API to return LogicalPlan instead of DataFrame #4896
• Original PR: ReadRel. Get column names from TableScan source datafusion-contrib/datafusion-substrait#37
  • New PR: [Substrait] ReadRel. Get column names from TableScan source #5050
• Original PR: Fix join type encoding and add tests datafusion-contrib/datafusion-substrait#38
  • New PR: Improve join type support in substrait #5051
• Original PR: Add decimal literal datafusion-contrib/datafusion-substrait#39
  • New PR: Add decimal support to substrait serde #5054
• Original PR: Add support for NULL literals (integer and decimal types) datafusion-contrib/datafusion-substrait#40
  • New PR: TBD

Follow-on issues after that:

• In PR https://github.com/apache/arrow-datafusion/pull/4896/files we ignored a test and have to fix that

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[andygrove]

@waynexia @nseekhao fyi

[nseekhao]

@andygrove New PR for the original PR#40 is at #5077

[nseekhao]

@andygrove A small PR to fix the ignored failed test is at #5083