[Task]: Cleanup monkey-patching of numpy once TensorRT supports numpy 1.24.0.

### What needs to happen?

1) Wait until https://github.com/NVIDIA/TensorRT/issues/2557 is fixed
2) Remove monkey-patching in tensorrt_inference.py introduced in https://github.com/apache/beam/pull/24725
3)

We may have to update https://github.com/apache/beam/blob/287ddf6aa79efe0acfe654857d72f8357712a428/sdks/python/test-suites/containers/tensorrt_runinference/tensor_rt.dockerfile#L17
and rebuild https://github.com/apache/beam/blob/287ddf6aa79efe0acfe654857d72f8357712a428/sdks/python/test-suites/dataflow/common.gradle#L348

4) Run Postcommits to verify tests don't fail.

### Issue Priority

Priority: 3 (nice-to-have improvement)

### Issue Components

- [X] Component: Python SDK
- [ ] Component: Java SDK
- [ ] Component: Go SDK
- [ ] Component: Typescript SDK
- [ ] Component: IO connector
- [ ] Component: Beam examples
- [ ] Component: Beam playground
- [ ] Component: Beam katas
- [ ] Component: Website
- [ ] Component: Spark Runner
- [ ] Component: Flink Runner
- [ ] Component: Samza Runner
- [ ] Component: Twister2 Runner
- [ ] Component: Hazelcast Jet Runner
- [ ] Component: Google Cloud Dataflow Runner

Wait for TensorRT issue 2557 to be fixed, then inspect the monkey-patching in tensorrt_inference.py and remove the workaround introduced by Beam pull request 24725. Check whether tensor_rt.dockerfile and common.gradle need updates or a rebuild, then run Postcommits to verify the TensorRT tests.

Written by the indexing model from the issue text.