## What changes were proposed in this pull request?

This PR explicitly specifies and checks the types we supported in `toPandas`. This was a hole. For example, we haven't finished the binary type support in Python side yet but now it allows as below:

```python
spark.conf.set("spark.sql.execution.arrow.enabled", "false")
df = spark.createDataFrame([[bytearray("a")]])
df.toPandas()
spark.conf.set("spark.sql.execution.arrow.enabled", "true")
df.toPandas()
```

```
     _1
0  [97]
  _1
0  a
```

This should be disallowed. I think the same things also apply to nested timestamps too.

I also added some nicer message about `spark.sql.execution.arrow.enabled` in the error message.

## How was this patch tested?

Manually tested and tests added in `python/pyspark/sql/tests.py`.

Author: hyukjinkwon <gurwls223@gmail.com>

Closes #20625 from HyukjinKwon/pandas_convertion_supported_type.