[SPARK-3886] [PySpark] simplify serializer, use AutoBatchedSerializer by default.

This PR simplify serializer, always use batched serializer (AutoBatchedSerializer as default), even batch size is 1.

Author: Davies Liu <davies@databricks.com>

This patch had conflicts when merged, resolved by
Committer: Josh Rosen <joshrosen@databricks.com>

Closes #2920 from davies/fix_autobatch and squashes the following commits:

e544ef9 [Davies Liu] revert unrelated change
6880b14 [Davies Liu] Merge branch 'master' of github.com:apache/spark into fix_autobatch
1d557fc [Davies Liu] fix tests
8180907 [Davies Liu] Merge branch 'master' of github.com:apache/spark into fix_autobatch
76abdce [Davies Liu] clean up
53fa60b [Davies Liu] Merge branch 'master' of github.com:apache/spark into fix_autobatch
d7ac751 [Davies Liu] Merge branch 'master' of github.com:apache/spark into fix_autobatch
2cc2497 [Davies Liu] Merge branch 'master' of github.com:apache/spark into fix_autobatch
b4292ce [Davies Liu] fix bug in master
d79744c [Davies Liu] recover hive tests
be37ece [Davies Liu] refactor
eb3938d [Davies Liu] refactor serializer in scala
8d77ef2 [Davies Liu] simplify serializer, use AutoBatchedSerializer by default.

(cherry picked from commit e4f42631a68b473ce706429915f3f08042af2119)
Signed-off-by: Josh Rosen <joshrosen@databricks.com>