Remove ad-hoc substrait version after substrait#342

[asfimport]

After #14415 arrow's version of substrait will be a specific git hash instead of a released version. As soon as a released version is available which includes substrait-io/substrait#342 we should update to depend on that, in order to minimize build up of divergence between arrow's consumption of substrait and its released API.

Reporter: Ben Kietzman / @bkietz

_{Note: This issue was originally created as ARROW-18201. Please see the migration documentation for further details.}

[thisisnic]

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