dependency: upgrade TiDB dependency (#4310)

[ti-chi-bot]

This is an automated cherry-pick of #4310

What problem does this PR solve?

Issue Number: close #4298

What is changed and how it works?

Check List

Tests

• Unit test
• Integration test
• Manual test (add detailed scripts or steps below)
• No code

Code changes

• Has exported function/method change
• Has exported variable/fields change
• Has interface methods change
• Has persistent data change

Side effects

• Possible performance regression
• Increased code complexity
• Breaking backward compatibility

Related changes

• Need to cherry-pick to the release branch
• Need to update the documentation
• Need to update key monitor metrics in both TiCDC document and official document

Release note

None

[ti-chi-bot]

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[GMHDBJD]

/run-all-tests

[GMHDBJD]

/run-unit-test

[lonng]

/run-unit-test

[GMHDBJD]

/run-unit-test

[Rustin170506]

/run-unit-test

[purelind]

/run-unit-test

[Rustin170506]

/merge

[ti-chi-bot]

This pull request has been accepted and is ready to merge.

Commit hash: 9b9ce78

[GMHDBJD]

/merge