[SPARK-18674][SQL][FOLLOW-UP] improve the error message of using join

### What changes were proposed in this pull request?
Added a test case for using joins with nested fields.

### How was this patch tested?
N/A

Author: gatorsmile <gatorsmile@gmail.com>

Closes #16110 from gatorsmile/followup-18674.

(cherry picked from commit 2f8776cc)
Signed-off-by: Wenchen Fan <wenchen@databricks.com>