[SPARK-3390][SQL] sqlContext.jsonRDD fails on a complex structure of JSON array and JSON object nesting

This PR aims to correctly handle JSON arrays in the type of `ArrayType(...(ArrayType(StructType)))`.

JIRA: https://issues.apache.org/jira/browse/SPARK-3390.

Author: Yin Huai <huai@cse.ohio-state.edu>

Closes #2364 from yhuai/SPARK-3390 and squashes the following commits:

46db418 [Yin Huai] Handle JSON arrays in the type of ArrayType(...(ArrayType(StructType))).