refactor(module:date-picker): remove deprecated APIs for v10

[wenqi73]

PR Checklist

Please check if your PR fulfills the following requirements:

• The commit message follows our guidelines: https://github.com/NG-ZORRO/ng-zorro-antd/blob/master/CONTRIBUTING.md#commit
• Tests for the changes have been added (for bug fixes / features)
• Docs have been added / updated (for bug fixes / features)

PR Type

What kind of change does this PR introduce?

[ ] Bugfix
[ ] Feature
[ ] Code style update (formatting, local variables)
[x] Refactoring (no functional changes, no api changes)
[ ] Build related changes
[ ] CI related changes
[ ] Documentation content changes
[ ] Application (the showcase website) / infrastructure changes
[ ] Other... Please describe:

What is the current behavior?

Issue Number: N/A

What is the new behavior?

Does this PR introduce a breaking change?

[x] Yes
[ ] No

Other information

[codecov]

Codecov Report

Merging #5793 into master will decrease coverage by 0.01%.
The diff coverage is 80.00%.

@@            Coverage Diff             @@
##           master    #5793      +/-   ##
==========================================
- Coverage   90.26%   90.25%   -0.02%     
==========================================
  Files         455      454       -1     
  Lines       13823    13787      -36     
  Branches     2180     2171       -9     
==========================================
- Hits        12477    12443      -34     
  Misses        823      823              
+ Partials      523      521       -2     

Impacted Files	Coverage Δ
components/date-picker/date-picker.component.ts	95.38% <ø> (-0.21%)	⬇️
components/i18n/date-config.ts	100.00% <ø> (ø)
components/i18n/date-helper.service.ts	82.35% <80.00%> (-2.65%)	⬇️
components/date-picker/testing/util.ts	77.77% <0.00%> (-22.23%)	⬇️

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