Fix parameters serialization for server-side rendering

[mayty]

• fixes bug with array query params #418

1. Fixed parameter serialization for arrays, tuples, and maps.
2. Updated datetime serializer to include microseconds if non-zero (Select datetime accurate to millisecond #306). I realize that it might break the integration for some people and I am open to rolling it back.
3. Updated GitHub actions a bit because they were failing.

Checklist:

• Add tests that demonstrate the correct behavior of the change. Tests should fail without the change.
• Add or update relevant docs, in the docs folder and in code.
• Ensure PR doesn't contain untouched code reformatting: spaces, etc.
• Run flake8 and fix issues.
• Run pytest no tests failed. See https://clickhouse-driver.readthedocs.io/en/latest/development.html.