Refactor/cleanup BrokerNode/ControllerNode/ClusterConfig

origin discussion: https://github.com/apache/kafka/pull/15715#discussion_r1564660916

It seems to me this jira should address following tasks.

1. make them immutable. We have adopted the builder pattern, so all changes should be completed in the builder phase

2. make all `Builder#build()` not accept any arguments. Instead, we should add new setters for those arguments.