Support configurable error message from STS

[dlvenable]

Is your feature request related to a problem? Please describe.

The error message provided by STS when assuming may not always be the most useful message to present.

Describe the solution you'd like

Allow configuration of the AWS plugin to change the error message provided when assuming a role.

This message can use some formatting to make it dynamic.

e.g.

Unable to assume role ${stsRoleArn} from Amazon STS.

This may yield:

Unable to assume role arn:aws:iam::123456789012:role/MyRole from Amazon STS.

Configuration in data-prepper-config.yaml:

aws:
  sts_errors:
    default_error: Unable to assume role ${stsRoleArn} from Amazon STS.

Additional context

This relates to the ongoing work in the AWS plugin in #2570. And it requires that extension plugins can add new configurations to data-prepper-config.yaml which is part of the extensions work in #2588.