[SPARK-21295][SQL] Use qualified names in error message for missing references

### What changes were proposed in this pull request?
It is strange to see the following error message. Actually, the column is from another table.
```
cannot resolve '`right.a`' given input columns: [a, c, d];
```

After the PR, the error message looks like
```
cannot resolve '`right.a`' given input columns: [left.a, right.c, right.d];
```

### How was this patch tested?
Added a test case

Author: gatorsmile <gatorsmile@gmail.com>

Closes #18520 from gatorsmile/removeSQLConf.