[SPARK-39935][SQL][TESTS] Switch validateParsingError() onto checkError()

[MaxGekk]

What changes were proposed in this pull request?

1. Re-implemented validateParsingError() using checkError().
2. Removed checkParsingError() and replaced by checkError().

Why are the changes needed?

1. To prepare test infra for testing of query contexts.
2. To check message parameters instead of entire text message. This PR is some kind of follow up of [SPARK-39349] Add a centralized CheckError method for QA of error path #36693 and [SPARK-39905][SQL][TESTS] Remove checkErrorClass() and use checkError() instead #37322.

Does this PR introduce any user-facing change?

No.

How was this patch tested?

By running the modified test suites:

$ build/sbt -Phive -Phive-thriftserver "test:testOnly *TruncateTableParserSuite"
$ build/sbt -Phive-2.3 -Phive-thriftserver "test:testOnly *ShowPartitionsParserSuite"
$ build/sbt "sql/testOnly *QueryParsingErrorsSuite"

[MaxGekk]

@gengliangwang @cloud-fan @anchovYu Could you review this PR, please.

[cloud-fan]

LGTM, please fix code conflicts

[MaxGekk]

I think the SparkR failure is not related to the changes. I am going to merge this PR to master. Thank you, @cloud-fan @HyukjinKwon for review.