Bump sphinx and sphinx-autoapi (#26743)

The sphinx-autoapi bug readthedocs/sphinx-autoapi#352
has been resolved and 2.0.0 version has been released. Since we
are using sphinx/sphinx-autoapi only for `doc` extra, we can
safely bump the minimum version of both to latest released minor
versions.

(cherry picked from commit 9e06c99)

setup.py

@@ -266,15 +266,11 @@ def write_version(filename: str = str(AIRFLOW_SOURCES_ROOT / "airflow" / "git_ve
     'importlib-metadata>=4.4; python_version < "3.8"',
     'sphinx-airflow-theme',
     'sphinx-argparse>=0.1.13',
-    'sphinx-autoapi>=1.8.0',
+    'sphinx-autoapi>=2.0.0',
     'sphinx-copybutton',
     'sphinx-jinja>=2.0',
     'sphinx-rtd-theme>=0.1.6',
-    # Spinx 5.2.0 introduced deprecation for property documentation and autoapi 1.9.0 generates
-    # documentation that uses the old way of documenting it. This is tracked in
-    # https://github.com/readthedocs/sphinx-autoapi/issues/352 of autoapi and until it is solved
-    # we need to limit Sphinx to <5.2.0
-    'sphinx>=4.4.0,<5.2.0',
+    'sphinx>=5.2.0',
     'sphinxcontrib-httpdomain>=1.7.0',
     'sphinxcontrib-redoc>=1.6.0',
     'sphinxcontrib-spelling>=7.3',