### 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
'asana': asana,
    'celery': celery,
    'cloudant': cloudant,
    'cncf.kubernetes': kubernetes,
    'databricks': databricks,
    'datadog': datadog,
    'dingding': [],
    'discord': [],
    'docker': docker,
    'elasticsearch': elasticsearch,
    'exasol': exasol,
    'facebook': facebook,
    'ftp': [],
    'google': google,
    'grpc': grpc,
    'hashicorp': hashicorp,
    'http': http,
    'imap': [],
    'influxdb': influxdb,
    'jdbc': jdbc,
    'jenkins': jenkins,
    'jira': jira,
    'microsoft.azure': azure,
    'microsoft.mssql': mssql,
    'microsoft.psrp': psrp,
    'microsoft.winrm': winrm,
    'mongo': mongo,
    'mysql': mysql,
    'neo4j': neo4j,
    'odbc': odbc,