feat: support for related subquery

[wszhdshys]

What problem does this PR solve?

Using the RBO method, the related subquery is implemented.

What is changed and how it works?

Code changes

• Has Rust code change
• Has CI related scripts change

Check List

Tests

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

Side effects

• Performance regression: Consumes more CPU
• Performance regression: Consumes more Memory
• Breaking backward compatibility

Note for reviewer