KAFKA-15909: Throw error when consumer configured with empty/whitespace-only group.id for LegacyKafkaConsumer

[FrankYang0529]

Per KIP-289, the use of an empty value for group.id configuration was deprecated back in 2.2.0.

In 3.7, the AsyncKafkaConsumer implementation will throw an error (see KAFKA-14438).

This task is to update the LegacyKafkaConsumer implementation to throw an error in 4.0.

Committer Checklist (excluded from commit message)

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

[chia7712]

@FrankYang0529 please check the failed tests

[FrankYang0529]

@FrankYang0529 please check the failed tests

Updated it. Latest failed cases can pass on my laptop.

[chia7712]

@FrankYang0529 could you please rebase code to trigger QA again?

[FrankYang0529]

@FrankYang0529 could you please rebase code to trigger QA again?

Rebased it. Thank you.