[Python] Support inferring nested ndarray with ndim > 1

Follow up work to ARROW-4350

**Reporter**: [Wes McKinney](https://issues.apache.org/jira/browse/ARROW-5645) / @wesm
#### Related issues:
- [[Python] converting multidimensional numpy arrays to nested list type](https://github.com/apache/arrow/issues/22274) (duplicates)
- [[Python] dtype=object arrays cannot be converted to a list-of-list ListArray](https://github.com/apache/arrow/issues/20917) (is related to)

_{**Note**: *This issue was originally created as [ARROW-5645](https://issues.apache.org/jira/browse/ARROW-5645). Please see the [migration documentation](https://github.com/apache/arrow/issues/14542) for further details.*}