[SPARK-36980][SQL] Insert support query with CTE

sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBase.g4

@@ -444,7 +444,7 @@ resource
     ;
 
 dmlStatementNoWith
-    : insertInto queryTerm queryOrganization                                       #singleInsertQuery
+    : insertInto query                                                             #singleInsertQuery
     | fromClause multiInsertQueryBody+                                             #multiInsertQuery
     | DELETE FROM multipartIdentifier tableAlias whereClause?                      #deleteFromTable
     | UPDATE multipartIdentifier tableAlias setClause whereClause?                 #updateTable

sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala

@@ -239,9 +239,7 @@ class AstBuilder extends SqlBaseBaseVisitor[AnyRef] with SQLConfHelper with Logg
    */
   override def visitSingleInsertQuery(
       ctx: SingleInsertQueryContext): LogicalPlan = withOrigin(ctx) {
-    withInsertInto(
-      ctx.insertInto(),
-      plan(ctx.queryTerm).optionalMap(ctx.queryOrganization)(withQueryResultClauses))
+    withInsertInto(ctx.insertInto(), visitQuery(ctx.query))
   }
 
   /**

sql/core/src/test/scala/org/apache/spark/sql/sources/InsertSuite.scala

@@ -1055,6 +1055,14 @@ class InsertSuite extends DataSourceTest with SharedSparkSession {
       }
     }
   }
+
+  test("SPARK-36980: Insert support query with CTE") {
+    withTable("t") {
+      sql("CREATE TABLE t(i int, part1 int, part2 int) using parquet")
+      sql("INSERT INTO t WITH v1(c1) as (values (1)) select 1, 2,3 from v1")
+      checkAnswer(spark.table("t"), Row(1, 2, 3))
+    }
+  }
 }
 
 class FileExistingTestFileSystem extends RawLocalFileSystem {