BUG: Fix json_normalize throwing TypeError (#21536)
Fix json_normalize throwing TypeError with array of values and record_prefix (#21536)

- [x] closes #21536
- [x] tests added / passed
- [ ] passes `git diff upstream/master -u -- "*.py" | flake8 --diff`
- [x] whatsnew entry

# [Codecov](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=h1) Report
> Merging [#21540](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=desc) into [master](https://codecov.io/gh/pandas-dev/pandas/commit/5fbb683712ce0312e35e06152cf8410c33cee330?src=pr&el=desc) will **decrease** coverage by `0.01%`.
> The diff coverage is `100%`.

[![Impacted file tree graph](https://codecov.io/gh/pandas-dev/pandas/pull/21540/graphs/tree.svg?width=650&src=pr&token=eZ4WkYLtcO&height=150)](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=tree)

```diff
@@            Coverage Diff             @@
##           master   #21540      +/-   ##
==========================================
- Coverage   91.91%    91.9%   -0.02%     
==========================================
  Files         153      153              
  Lines       49546    49549       +3     
==========================================
- Hits        45542    45539       -3     
- Misses       4004     4010       +6
```

| Flag | Coverage Δ | |
|---|---|---|
| #multiple | `90.3% <100%> (-0.02%)` | :arrow_down: |
| #single | `41.78% <0%> (-0.03%)` | :arrow_down: |

| [Impacted Files](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=tree) | Coverage Δ | |
|---|---|---|
| [pandas/io/json/normalize.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2lvL2pzb24vbm9ybWFsaXplLnB5) | `96.87% <100%> (ø)` | :arrow_up: |
| [pandas/util/testing.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL3V0aWwvdGVzdGluZy5weQ==) | `85.27% <0%> (-0.7%)` | :arrow_down: |
| [pandas/core/arrays/categorical.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvYXJyYXlzL2NhdGVnb3JpY2FsLnB5) | `95.63% <0%> (-0.06%)` | :arrow_down: |
| [pandas/core/indexing.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvaW5kZXhpbmcucHk=) | `93.37% <0%> (-0.05%)` | :arrow_down: |
| [pandas/tseries/offsets.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL3RzZXJpZXMvb2Zmc2V0cy5weQ==) | `97.16% <0%> (-0.04%)` | :arrow_down: |
| [pandas/core/indexes/multi.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvaW5kZXhlcy9tdWx0aS5weQ==) | `94.97% <0%> (-0.01%)` | :arrow_down: |
| [pandas/core/indexes/datetimes.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvaW5kZXhlcy9kYXRldGltZXMucHk=) | `95.66% <0%> (ø)` | :arrow_up: |
| [pandas/core/indexes/timedeltas.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvaW5kZXhlcy90aW1lZGVsdGFzLnB5) | `91.24% <0%> (ø)` | :arrow_up: |
| [pandas/core/indexes/base.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvaW5kZXhlcy9iYXNlLnB5) | `96.62% <0%> (ø)` | :arrow_up: |
| [pandas/core/sorting.py](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree#diff-cGFuZGFzL2NvcmUvc29ydGluZy5weQ==) | `98.2% <0%> (ø)` | :arrow_up: |
| ... and [4 more](https://codecov.io/gh/pandas-dev/pandas/pull/21540/diff?src=pr&el=tree-more) | |

------

[Continue to review full report at Codecov](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=continue).
> **Legend** - [Click here to learn more](https://docs.codecov.io/docs/codecov-delta)
> `Δ = absolute <relative> (impact)`, `ø = not affected`, `? = missing data`
> Powered by [Codecov](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=footer). Last update [5fbb683...55e1022](https://codecov.io/gh/pandas-dev/pandas/pull/21540?src=pr&el=lastupdated). Read the [comment docs](https://docs.codecov.io/docs/pull-request-comments).
 @jreback : How do I add a note? Thanks. @vuminhle you can add a note to `doc/source/whatsnew/v0.23.2.txt`. I think this is fine under "Bug Fixes" -> "Other" should be in IO @WillAyd @jreback I added a note. Thanks for the instruction. thanks @vuminhle 