KAFKA-16181: Use incrementalAlterConfigs when updating broker configs by kafka-configs.sh

[dengziming]

More detailed description of your change This PR implement KIP-1011, use incrementalAlterConfigs by default to alter broker configurations instead of the deprecated alterConfigs API, and fall back to deprecated alterConfigs API if the broker doesn't support incrementalAlterConfigs API.

Summary of testing strategy (including rationale)

1. Add some test cases to verify the new approach.
2. TODO, we can't verify the automatic process because we can't produce UnsupportedVersionException by setting inter.broker.protocol.version

Committer Checklist (excluded from commit message)

• [ ] Verify design and implementation
• [ ] Verify test coverage and CI build status
• [ ] Verify documentation (including upgrade notes)