Fix write and read FITS tables without ColDefs structure - #12863

Description

This pull request is to address the issues described in #5280 and #5287.
It improve the conversion of table columns from record format spec to FITS format spec in the case of multidimensional objects.

Fixes #5280, fixes #5287.

Thank you for considering it.

Checklist for package maintainer(s)

This checklist is meant to remind the package maintainer(s) who will review this pull request of some common things to look for. This list is not exhaustive.

• Do the proposed changes actually accomplish desired goals?
• Do the proposed changes follow the Astropy coding guidelines?
• Are tests added/updated as required? If so, do they follow the Astropy testing guidelines?
• Are docs added/updated as required? If so, do they follow the Astropy documentation guidelines?
• Is rebase and/or squash necessary? If so, please provide the author with appropriate instructions. Also see "When to rebase and squash commits".
• Did the CI pass? If no, are the failures related? If you need to run daily and weekly cron jobs as part of the PR, please apply the Extra CI label.
• Is a change log needed? If yes, did the change log check pass? If no, add the no-changelog-entry-needed label. If this is a manual backport, use the skip-changelog-checks label unless special changelog handling is necessary.
• Is this a big PR that makes a "What's new?" entry worthwhile and if so, is (1) a "what's new" entry included in this PR and (2) the "whatsnew-needed" label applied?
• Is a milestone set? Milestone must be set but astropy-bot check might be missing; do not let the green checkmark fool you.
• At the time of adding the milestone, if the milestone set requires a backport to release branch(es), apply the appropriate backport-X.Y.x label(s) before merge.