### 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.
setup.py
]
leveldb = ['plyvel']
mongo = [
    'dnspython>=1.13.0,<3.0.0',
    'pymongo>=3.6.0',
]
mssql = [
    'pymssql~=2.1,>=2.1.5',
]
mysql = [
    'mysql-connector-python>=8.0.11, <9',
    'mysqlclient>=1.3.6,<3',
]
neo4j = ['neo4j>=4.2.1']
odbc = [
    'pyodbc',
]
oracle = [
    'cx_Oracle>=5.1.2',
]
pagerduty = [
    'pdpyras>=4.1.2,<5',
]
pandas = [
    'pandas>=0.17.1, <2.0',
]
papermill = [
    'papermill[all]>=1.2.1',
    'scrapbook[all]',
]