[SPARK-52428] Harden streaming and session error handling

[rafafrdz]

Summary

• Replace unwrap() on output_mode, query_id, operation_start_resp in streaming with ok_or() + ?
• Change StreamingQuery::new() to return Result<Self, SparkError>
• Replace unwrap() on sql_command_result and relation in SparkSession::sql()
• Replace unwrap() on to_json_object empty vec access

Test plan

• cargo build passes
• cargo test unit tests pass
• cargo fmt -- --check passes