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Check docker version before using deprecated arg

What does this MR do?

Removes the --default-stack-orchestrator=swarm argument on docker client 23 and greater.

Why was this MR needed?

Without this, make runner-and-helper-docker-host fails.

What's the best way to test this MR?

Run make runner-and-helper-docker-host on a machine with docker 23 or greater installed. In my local testing, the build progresses past the docker context create stage, but later fails for unrelated reasons (doing a gem install as an unprivileged user).

What are the relevant issue numbers?

Closes #37449 (closed)

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