[SPARK-3280] Made sort-based shuffle the default implementation

Sort-based shuffle has lower memory usage and seems to outperform hash-based in almost all of our testing.

Author: Reynold Xin <rxin@apache.org>

Closes #2178 from rxin/sort-shuffle and squashes the following commits:

713d341 [Reynold Xin] Fixed test failures by setting spark.shuffle.compress to the same value as spark.shuffle.spill.compress.
85165e6 [Reynold Xin] Fixed a comment typo.
aa0d372 [Reynold Xin] [SPARK-3280] Made sort-based shuffle the default implementation