[SPARK-25510][SQL][TEST][FOLLOW-UP] Remove BenchmarkWithCodegen

## What changes were proposed in this pull request?

Remove `BenchmarkWithCodegen` as we don't use it anymore.
More details: #22484 (comment)

## How was this patch tested?

N/A

Closes #22985 from wangyum/SPARK-25510.

Authored-by: Yuming Wang <[email protected]>
Signed-off-by: hyukjinkwon <[email protected]>

Author: wangyum