[SPARK-38105][SQL] Use error classes in the parsing errors of joins

### What changes were proposed in this pull request?
Migrate the following errors in QueryParsingErrors onto use error classes:
1. joinCriteriaUnimplementedError => throw IllegalStateException instead, since it should never happen and not visible to users, introduced by improving exhaustivity in [PR](#30455)
2. naturalCrossJoinUnsupportedError => UNSUPPORTED_FEATURE

### Why are the changes needed?
Porting join parsing errors to new error framework.

### Does this PR introduce _any_ user-facing change?
No

### How was this patch tested?
UT added.

Closes #35405 from ivoson/SPARK-38105.

Authored-by: Tengfei Huang <tengfei.h@gmail.com>
Signed-off-by: Max Gekk <max.gekk@gmail.com>

sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala

@@ -1146,7 +1146,7 @@ class AstBuilder extends SqlBaseBaseVisitor[AnyRef] with SQLConfHelper with Logg
           case Some(c) if c.booleanExpression != null =>
             (baseJoinType, Option(expression(c.booleanExpression)))
           case Some(c) =>
-            throw QueryParsingErrors.joinCriteriaUnimplementedError(c, ctx)
+            throw new IllegalStateException(s"Unimplemented joinCriteria: $c")
           case None if join.NATURAL != null =>
             if (join.LATERAL != null) {
               throw QueryParsingErrors.lateralJoinWithNaturalJoinUnsupportedError(ctx)

sql/catalyst/src/main/scala/org/apache/spark/sql/errors/QueryParsingErrors.scala

@@ -129,12 +129,8 @@ object QueryParsingErrors {
     new ParseException(s"Cannot resolve window reference '$name'", ctx)
   }
 
-  def joinCriteriaUnimplementedError(join: JoinCriteriaContext, ctx: RelationContext): Throwable = {
-    new ParseException(s"Unimplemented joinCriteria: $join", ctx)
-  }
-
   def naturalCrossJoinUnsupportedError(ctx: RelationContext): Throwable = {
-    new ParseException("NATURAL CROSS JOIN is not supported", ctx)
+    new ParseException("UNSUPPORTED_FEATURE", Array("NATURAL CROSS JOIN."), ctx)
   }
 
   def emptyInputForTableSampleError(ctx: ParserRuleContext): Throwable = {

sql/core/src/test/scala/org/apache/spark/sql/errors/QueryParsingErrorsSuite.scala

@@ -78,4 +78,12 @@ class QueryParsingErrorsSuite extends QueryTest with SharedSparkSession {
         message = "Invalid SQL syntax: LATERAL can only be used with subquery.")
     }
   }
+
+  test("UNSUPPORTED_FEATURE: NATURAL CROSS JOIN is not supported") {
+    validateParsingError(
+      sqlText = "SELECT * FROM a NATURAL CROSS JOIN b",
+      errorClass = "UNSUPPORTED_FEATURE",
+      sqlState = "0A000",
+      message = "The feature is not supported: NATURAL CROSS JOIN.")
+  }
 }