### 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
container's process exits.
        The default is False.
    :type auto_remove: bool
    :param command: Command to be run in the container. (templated)
    :type command: str or list
    :param docker_url: URL of the host running the docker daemon.
        Default is unix://var/run/docker.sock
    :type docker_url: str
    :param environment: Environment variables to set in the container. (templated)
    :type environment: dict
    :param force_pull: Pull the docker image on every run. Default is False.
    :type force_pull: bool
    :param mem_limit: Maximum amount of memory the container can use.
        Either a float value, which represents the limit in bytes,
        or a string like ``128m`` or ``1g``.
    :type mem_limit: float or str
    :param tls_ca_cert: Path to a PEM-encoded certificate authority
        to secure the docker connection.
    :type tls_ca_cert: str
    :param tls_client_cert: Path to the PEM-encoded certificate
        used to authenticate docker client.
    :type tls_client_cert: str
    :param tls_client_key: Path to the PEM-encoded key used to authenticate docker client.
    :type tls_client_key: str
    :param tls_hostname: Hostname to match against
        the docker server certificate or False to disable the check.
    :type tls_hostname: str or bool
    :param tls_ssl_version: Version of SSL to use when communicating with docker daemon.
    :type tls_ssl_version: str
    :param tmp_dir: Mount point inside the container to