[SPARK-29516][SQL][TEST] Test ThriftServerQueryTestSuite asynchronously

### What changes were proposed in this pull request?
This PR test `ThriftServerQueryTestSuite` in an asynchronous way.

### Why are the changes needed?
The default value of `spark.sql.hive.thriftServer.async` is `true`.

### Does this PR introduce any user-facing change?
No

### How was this patch tested?
```
build/sbt "hive-thriftserver/test-only *.ThriftServerQueryTestSuite" -Phive-thriftserver
build/mvn -Dtest=none -DwildcardSuites=org.apache.spark.sql.hive.thriftserver.ThriftServerQueryTestSuite test -Phive-thriftserver
```

Closes #26172 from wangyum/SPARK-29516.

Authored-by: Yuming Wang <yumwang@ebay.com>
Signed-off-by: Yuming Wang <wgyumg@gmail.com>

Author: wangyum

sql/hive-thriftserver/src/test/scala/org/apache/spark/sql/hive/thriftserver/ThriftServerQueryTestSuite.scala

@@ -18,7 +18,7 @@
 package org.apache.spark.sql.hive.thriftserver
 
 import java.io.File
-import java.sql.{DriverManager, Statement, Timestamp}
+import java.sql.{DriverManager, SQLException, Statement, Timestamp}
 import java.util.{Locale, MissingFormatArgumentException}
 
 import scala.util.{Random, Try}
@@ -75,11 +75,6 @@ class ThriftServerQueryTestSuite extends SQLQueryTestSuite {
     }
   }
 
-  override def sparkConf: SparkConf = super.sparkConf
-    // Hive Thrift server should not executes SQL queries in an asynchronous way
-    // because we may set session configuration.
-    .set(HiveUtils.HIVE_THRIFT_SERVER_ASYNC, false)
-
   override val isTestWithConfigSets = false
 
   /** List of test cases to ignore, in lower cases. */
@@ -208,6 +203,12 @@ class ThriftServerQueryTestSuite extends SQLQueryTestSuite {
               s"Exception did not match for query #$i\n${expected.sql}, " +
                 s"expected: ${expected.output}, but got: ${output.output}")
 
+          // SQLException should not exactly match. We only assert the result contains Exception.
+          case _ if output.output.startsWith(classOf[SQLException].getName) =>
+            assert(expected.output.contains("Exception"),
+              s"Exception did not match for query #$i\n${expected.sql}, " +
+                s"expected: ${expected.output}, but got: ${output.output}")
+
           case _ =>
             assertResult(expected.output, s"Result did not match for query #$i\n${expected.sql}") {
               output.output