Review the current behavior of query and header parameters when encoded with collection format

[JialinHuang803]

Scenarios:

• Header
  • array of primitive types (no @encode)
  • array of imprimitive types (no @encode)
  • array csv + explode
  • model type + explode
• Query
  • array of primitive types (no @encode)
  • array of imprimitive types (no @encode)
  • model type
  • model type + @encode

[qiaozha]

See #3659 (comment) for the details.

[JialinHuang803]

Another case:
A warning is reported for this spector test case: https://github.com/microsoft/typespec/blob/a7bb20968a5058830a09cd158d8416d00729877f/packages/http-specs/specs/encode/datetime/main.tsp#L261-L271, need to check whether the warning should be reported.