[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`.
After some thoughts, I think it's OK to add this checking here. Mainly because it avoids using the exit code checking trick, which may cause potential exit code conflict.