### Body

See discussion in https://github.com/apache/airflow/discussions/18270

`docker-py` released version 5.0.3 https://github.com/docker/docker-py/releases/tag/5.0.3 which fixed https://github.com/docker/docker-py/issues/931

**Task:**
Update `DockerSwarmOperator`
https://github.com/apache/airflow/blob/4da4c186ecdcdae308fe8b4a7994c21faf42bc96/airflow/providers/docker/operators/docker_swarm.py#L205-L215
as we don't need the workaround any longer.

Note: this also require set minimum version of the package to 5.0.3 in [steup.py](https://github.com/apache/airflow/blob/fd45f5f3e38b80993d5624480a793be381194f04/setup.py#L263)


### Committer

- [X] I acknowledge that I am a maintainer/committer of the Apache Airflow project.
airflow/providers/docker/operators/docker_swarm.py
self.log.info('Starting docker service from image %s', self.image)
        if not self.cli:
            raise Exception("The 'cli' should be initialized before!")
        self.service = self.cli.create_service(
            types.TaskTemplate(
                container_spec=types.ContainerSpec(
                    image=self.image,
                    command=self.format_command(self.command),
                    mounts=self.mounts,
                    env=self.environment,
                    user=self.user,
                    tty=self.tty,
                    configs=self.configs,
                    secrets=self.secrets,
                ),
                restart_policy=types.RestartPolicy(condition='none'),
                resources=types.Resources(mem_limit=self.mem_limit),
                networks=self.networks,
            ),
            name=f'airflow-{get_random_string()}',
            labels={'name': f'airflow__{self.dag_id}__{self.task_id}'},
            mode=self.mode,
        )
        self.log.info('Service started: %s', str(self.service))
        
        while not self.cli.tasks(filters={'service': self.service['ID']}):
            continue