[SPARK-22554][PYTHON] Add a config to control if PySpark should use daemon or not for workers

## What changes were proposed in this pull request?

This PR proposes to add a flag to control if PySpark should use daemon or not.

Actually, SparkR already has a flag for useDaemon:
https://github.com/apache/spark/blob/478fbc866fbfdb4439788583281863ecea14e8af/core/src/main/scala/org/apache/spark/api/r/RRunner.scala#L362

It'd be great if we have this flag too. It makes easier to debug Windows specific issue.

## How was this patch tested?

Manually tested.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #19782 from HyukjinKwon/use-daemon-flag.