DBeaver https://dbeaver.io/ is a a powerful free opensource SQL editor tool than can connect to 80+ different databases. The below procedures will enable DBeaver to connect to Cloudera Hive/Impala using kerberos.
Initially tried to use the Cloudera JDBC connection but it kept giving kerberos error:
So tried the ODBC connection by creating a 64bit Impala ODBC Driver DSN. You will need to download the Cloudera Impala or Hive 64bit ODBC driver from the Cloudera website and install it. After that create a ODBC 64bit DSN and make sure the connection to Hive or Impala is successful using Kerberos realm and principal.
Check this link on how to create a ODBC DSN using Kerberos: https://plenium.wordpress.com/2019/08/02/connect-microsoft-power-bi-desktop-to-cloudera-impala-with-kerberos/
Once you have a working ODBC DSN which tests successful connection to Hive/Impala. Create a new ODBC Database connection in DBeaver from Database menu. It may ask you to download the jdbc-odbc-bridge driver. Enter the name of the ODBC DSN in the field Database/Schema: myodbc64bitdsnname . Leave the User Name and Password fields blank.
Test the connection and it should work. After that you can run any SQL query on Impala or Hive.