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[SPARK-19070] Clean-up dataset actions
## What changes were proposed in this pull request? Dataset actions currently spin off a new `Dataframe` only to track query execution. This PR simplifies this code path by using the `Dataset.queryExecution` directly. This PR also merges the typed and untyped action evaluation paths. ## How was this patch tested? Existing tests. Author: Herman van Hovell <hvanhovell@databricks.com> Closes #16466 from hvanhovell/SPARK-19070.
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