Optimized SparkRunner ParDo Operation

[twosom]

Please add a meaningful description for your change here

fixes #32537

This PR contains these changes

• optimized to skip filter operation when there is only single output
• add related test

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[Abacn]

Thanks for the change. I saw several changes of Spark runner improvement this PR and #32610 . If you are looking for reviewer a suggestion here is to send an email to beam devlist (https://lists.apache.org/[email protected]) introducing these changes and ask people who are familiar with Beam Spark Runner for review