[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.
This is a feature that still needs to be added to the external shuffle service. I made [SPARK-4236](https://issues.apache.org/jira/browse/SPARK-4236) to track this.