feat: support UDPRoute when expression router enabled

[randmonkey]

What this PR does / why we need it:

support UDPRoute with expression router when Kong version is >3.4, and add tests for it.

Which issue this PR fixes:

fixes #4539

Special notes for your reviewer:

PR Readiness Checklist:

Complete these before marking the PR as ready to review:

• the CHANGELOG.md release notes have been updated to reflect any significant (and particularly user-facing) changes introduced by this PR

[codecov]

Codecov Report

Patch coverage: 75.0% and no project coverage change.

Comparison is base (6006cab) 68.4% compared to head (e1d0f2c) 68.5%.

Additional details and impacted files

@@          Coverage Diff          @@
##            main   #4550   +/-   ##
=====================================
  Coverage   68.4%   68.5%           
=====================================
  Files        162     162           
  Lines      19017   19030   +13     
=====================================
+ Hits       13023   13042   +19     
+ Misses      5227    5216   -11     
- Partials     767     772    +5     

Files Changed	Coverage Δ
internal/dataplane/parser/translate_tcproute.go	57.1% <40.0%> (-1.5%)	⬇️
internal/dataplane/parser/translate_udproute.go	74.2% <84.2%> (+57.0%)	⬆️

... and 3 files with indirect coverage changes

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