[Feature Request]: Automatically use the Docker-compose based transform service for cross-language expansion - Go SDK

### What would you like to happen?

Transform service was already submitted: https://github.com/apache/beam/pull/26023

This is to update Go SDK to automatically use the transform service for cross-language expansion when needed.

### Issue Priority

Priority: 2 (default / most feature requests should be filed as P2)

### Issue Components

- [ ] Component: Python SDK
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