### 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
'aws_xray_sdk',
    'beautifulsoup4~=4.7.1',
    'black',
    'blinker',
    'bowler',
    'click>=7.1,<9',
    'coverage',
    'filelock',
    'flake8>=3.6.0',
    'flake8-colors',
    'flaky',
    'freezegun',
    'github3.py',
    'gitpython',
    'ipdb',
    'jira',
    'jsondiff',
    'mongomock',
    'moto~=2.2, >=2.2.7',
    'mypy==0.770',
    'parameterized',
    'paramiko',
    'pipdeptree',
    'pre-commit',
    'pypsrp',
    'pygithub',
    'pysftp',
    'pytest~=6.0',
    'pytest-asyncio',
    'pytest-cov',