[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 would rather not put YARN-related logic directly in the BlockManager itself. Can we extract this type of logic out to a utility function somewhere like
`SparkHadoopUtil.get.getYarnOrSparkConf("spark.shuffle.service.port", "7337").toInt`

It doesn't save many characters in here, but at least it hides the checking for YARN and constructing a Hadoop Configuration.