[SPARK-13817][BUILD][SQL] Re-enable MiMA and removes object DataFrame

## What changes were proposed in this pull request?

PR #11443 temporarily disabled MiMA check, this PR re-enables it.

One extra change is that `object DataFrame` is also removed. The only purpose of introducing `object DataFrame` was to use it as an internal factory for creating `Dataset[Row]`. By replacing this internal factory with `Dataset.newDataFrame`, both `DataFrame` and `DataFrame$` are entirely removed from the API, so that we can simply put a `MissingClassProblem` filter in `MimaExcludes.scala` for most DataFrame API  changes.

## How was this patch tested?

Tested by MiMA check triggered by Jenkins.

Author: Cheng Lian <lian@databricks.com>

Closes #11656 from liancheng/re-enable-mima.