[SPARK-44366][BUILD] Upgrade antlr4 to 4.13.1

### What changes were proposed in this pull request?
This pr is aims upgrade `antlr4` from 4.9.3 to 4.13.1

### Why are the changes needed?
After 4.10, antlr4 is using Java 11 for the source code and the compiled .class files for the ANTLR tool. There are some bug fix and Improvements after 4.9.3:
- antlr/antlr4#3399
- antlr/antlr4#1105
- antlr/antlr4#2788
- antlr/antlr4#3957
- antlr/antlr4#4394

The full release notes as follows:

- https://github.com/antlr/antlr4/releases/tag/4.13.1
- https://github.com/antlr/antlr4/releases/tag/4.13.0
- https://github.com/antlr/antlr4/releases/tag/4.12.0
- https://github.com/antlr/antlr4/releases/tag/4.11.1
- https://github.com/antlr/antlr4/releases/tag/4.11.0
- https://github.com/antlr/antlr4/releases/tag/4.10.1
- https://github.com/antlr/antlr4/releases/tag/4.10

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

### How was this patch tested?
Pass GitHub Actions

### Was this patch authored or co-authored using generative AI tooling?
No

Closes #43075 from LuciferYang/antlr4-4131.

Authored-by: yangjie01 <yangjie01@baidu.com>
Signed-off-by: Sean Owen <srowen@gmail.com>

dev/deps/spark-deps-hadoop-3-hive-2.3

@@ -12,7 +12,7 @@ aliyun-java-sdk-ram/3.1.0//aliyun-java-sdk-ram-3.1.0.jar
 aliyun-sdk-oss/3.13.0//aliyun-sdk-oss-3.13.0.jar
 annotations/17.0.0//annotations-17.0.0.jar
 antlr-runtime/3.5.2//antlr-runtime-3.5.2.jar
-antlr4-runtime/4.9.3//antlr4-runtime-4.9.3.jar
+antlr4-runtime/4.13.1//antlr4-runtime-4.13.1.jar
 aopalliance-repackaged/2.6.1//aopalliance-repackaged-2.6.1.jar
 arpack/3.0.3//arpack-3.0.3.jar
 arpack_combined_all/0.1//arpack_combined_all-0.1.jar

pom.xml

@@ -212,7 +212,7 @@
     <jsr305.version>3.0.0</jsr305.version>
     <libthrift.version>0.12.0</libthrift.version>
     <!-- Please don't upgrade the version to 4.10+, it depends on JDK 11 -->
-    <antlr4.version>4.9.3</antlr4.version>
+    <antlr4.version>4.13.1</antlr4.version>
     <jpam.version>1.1</jpam.version>
     <selenium.version>4.12.1</selenium.version>
     <htmlunit-driver.version>4.12.0</htmlunit-driver.version>