support multi-valued index

The [multi-valued index](https://dev.mysql.com/doc/refman/8.0/en/create-index.html#create-index-multi-valued) is introduced by mysql8.0, and there are users who want to use this feature in tidb https://github.com/pingcap/tidb/issues/7968#issuecomment-1305316698

# Task
- Expression M
- [x] #39821
- [x] #40045
- [x] #40128
- [x] #39866
- DML/DDL 1.5M
- [x] #40207
- [x] #40086
- [x] #40337
- Optimizer M
- [x] https://github.com/pingcap/tidb/issues/40191
- [x] Explain the plan
- Misc S
- [x] #40272
- [x] #40427
- [x] #41180
- Known bugs
- [x] https://github.com/pingcap/tidb/issues/40558
- [x] https://github.com/pingcap/tidb/issues/40529

## Phase 2 (GA)
- [x] #42037
- [x] #42142
- [ ] #41619
- [ ] enhance optimizer to support more complex condition
- [x] #42208
- [ ] enhance random tests