[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 guess you might want to allow people to still use the external shuffle service even without dynamic allocation. But still we could be nice and automatically use the external shuffle service when dynamic allocation is enabled, without requiring the user to set both configs.)