[SPARK-3658][SQL]Take thrift server as a daemon

https://issues.apache.org/jira/browse/SPARK-3658

And keep the `CLASS_NOT_FOUND_EXIT_STATUS` and exit message in `SparkSubmit.scala`.
I feel complicated to add this logic here... `SparkSubmit` should not be coupled with Thrift server, but it seems that this is the only legitimate place.