[WIP][SPARK-3797] Run external shuffle service in Yarn NM

This creates a new module `network/yarn` that depends on `network/shuffle` recently created in #3001. This PR introduces a custom Yarn auxiliary service that runs the external shuffle service. As of the changes here this shuffle service is required for using dynamic allocation with Spark.

This is still WIP mainly because it doesn't handle security yet. I have tested this on a stable Yarn cluster.
I wonder if it would be nicer to use maven-shade-plugin to create a single jar for the NM aux service. That might make it easier for people to install it.