[SPARK-52316][BUILD] Upgrade Kafka to 3.9.1

### What changes were proposed in this pull request?

This PR aims to Upgrade Kafka to 3.9.1.

### Why are the changes needed?

https://downloads.apache.org/kafka/3.9.1/RELEASE_NOTES.html
- apache/kafka#17527
- apache/kafka#19221

### Does this PR introduce _any_ user-facing change?

No.

### How was this patch tested?

Pass the CIs.

### Was this patch authored or co-authored using generative AI tooling?

No.

Closes apache#51025 from dongjoon-hyun/SPARK-52316.

Authored-by: Dongjoon Hyun <dongjoon@apache.org>
Signed-off-by: Dongjoon Hyun <dongjoon@apache.org>

Author: dongjoon-hyun

pom.xml

@@ -135,7 +135,7 @@
     <!-- Version used in Maven Hive dependency -->
     <hive.version>2.3.10</hive.version>
     <!-- note that this should be compatible with Kafka brokers version 0.10 and up -->
-    <kafka.version>3.9.0</kafka.version>
+    <kafka.version>3.9.1</kafka.version>
     <!-- After 10.17.1.0, the minimum required version is JDK19 -->
     <derby.version>10.16.1.1</derby.version>
     <parquet.version>1.15.2</parquet.version>