[SPARK-3615][Streaming]Fix Kafka unit test hard coded Zookeeper port issue

Details can be seen in [SPARK-3615](https://issues.apache.org/jira/browse/SPARK-3615).

Author: jerryshao <saisai.shao@intel.com>

Closes #2483 from jerryshao/SPARK_3615 and squashes the following commits:

8555563 [jerryshao] Fix Kafka unit test hard coded Zookeeper port issue