[C++] Improving Substrait-Join Integration

[asfimport]

This is an extension to the ARROW-15590. The main focus is to address the following issues. 

1. Support set of equality expressions as the join expression
2. Output handling (user provides the left and right outputs)
3. Support other (except INNER) join types: This requires mapping of existing Substrait Join definitions to Arrow supported Join types
4. Filter support: This requires mapping Substrait post_join_filter to filter in HashJoinNodeOptions

Reporter: Vibhatha Lakmal Abeykoon / @vibhatha

_{Note: This issue was originally created as ARROW-16485. Please see the migration documentation for further details.}

[asfimport]

Vibhatha Lakmal Abeykoon / @vibhatha:
cc @westonpace  

[asfimport]

Apache Arrow JIRA Bot:
This issue was last updated over 90 days ago, which may be an indication it is no longer being actively worked. To better reflect the current state, the issue is being unassigned per project policy. Please feel free to re-take assignment of the issue if it is being actively worked, or if you plan to start that work soon.