Add a `required` option to singular associations

In addition to defining the association, a `required` association will
also have its presence validated.

Before:

```ruby
belongs_to :account
validates_presence_of :account
```

After:

```ruby
belongs_to :account, required: true
```

This helps to draw a distinction between types of validations, since
validations on associations are generally for data integrity purposes,
and aren't usually set through form inputs.
Merge pull request #16056 from sgrif/sg-required-associations

Add a `required` option to singular associations
CHANGELOG and release notes entry for #16056
Add release notes entry for #15819 [ci skip]