[Improvement] Beeline should respect kyuubi-defaults.conf in default

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://www.apache.org/foundation/policies/conduct)

### Search before asking

- [X] I have searched in the [issues](https://github.com/apache/incubator-kyuubi/issues?q=is%3Aissue) and found no similar issues.

### What would you like to be improved?

To improve user experience, when run `$KYUUBI_HOME/bin/beeline` w/o `-u`, it should respect the `kyuubi-defaults.conf` to organize the URL.

### How should we improve?

_No response_

### Are you willing to submit PR?

- [ ] Yes I am willing to submit a PR!