[substrait] improve handling for user-defined functionality

### Is your feature request related to a problem or challenge?

Substrait has a number of mechanisms that allow users to define custom functionality. These include:
* [Extension Tables](https://github.com/substrait-io/substrait/blob/9cccb04fba336489b70ed42b71f73a0a1e34f9f5/proto/substrait/algebra.proto#L132-L136) for defining new table types.
* [Extension Relations](https://github.com/substrait-io/substrait/blob/9cccb04fba336489b70ed42b71f73a0a1e34f9f5/proto/substrait/algebra.proto#L396-L414) for adding entirely new relation types.
* [User-Defined Types](https://substrait.io/types/type_classes/#user-defined-types) for adding custom types.
* [User-Define Functions](https://substrait.io/types/type_classes/#user-defined-types) for adding custom functions.
* [Advanced Extensions](https://github.com/substrait-io/substrait/blob/9cccb04fba336489b70ed42b71f73a0a1e34f9f5/proto/substrait/extensions/extensions.proto#L70-L79) for modifying existing relations.

The current Substrait consumer has limited support for handling this custom functionality.

### Describe the solution you'd like

As a user I would like to be able to re-use most of the DataFusion Substrait consumer code, but also be able to configure and/or provide handlers for our custom functionality.

### Describe alternatives you've considered

_No response_

### Additional context

_No response_