fix(stepfunctions-tasks): CallAwsServiceCrossRegion doesn't work wi…

…th WAIT_FOR_TASK_TOKEN (#32807)

### Issue # (if applicable)

Closes #32746

### Reason for this change

The Step Functions task `CallAwsServiceCrossRegion` did not work with
`integrationPattern.WAIT_FOR_TASK_TOKEN`. This PR fixes the problem.

### Description of changes

The root cause of this problem is that we used an alterntive form of
calling Lambda Invoke, which does not support waitForTaskToken
integration pattern.

> Alternatively, you can invoke a Lambda function by specifying a
function ARN directly in the "Resource" field. When you invoke a Lambda
function in this way, you can't specify .waitForTaskToken, and the task
result contains only the function output.


https://docs.aws.amazon.com/step-functions/latest/dg/connect-lambda.html#connect-lambda-api-examples


This PR fixes the code to align with the implementation in
`LambdaInvoke` task, which supports both integration pattern.


https://github.com/aws/aws-cdk/blob/bbdd42c8f45916d5c6945f3429916f6199d2ec66/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/lambda/invoke.ts#L146-L165

To fix this without breaking changes, we introduce `payloadResponseOnly`
property (true by default), and fix the `_renderTask` method as above.
Users who need other integration patterns can set `payloadResponseOnly:
false`.

Additionally we throw an error if `payloadResponseOnly == true &&
integrationPattern != REQUEST_RESPONSE` to prevent misconfiguration.
This is not a breaking change because the construct previously did not
work at all when `integrationPattern != REQUEST_RESPONSE`.


### Describe any new or updated permissions being added

No.

### Description of how you validated changes

Added unit tests and integ tests.

### Checklist
- [X] My code adheres to the [CONTRIBUTING
GUIDE](https://github.com/aws/aws-cdk/blob/main/CONTRIBUTING.md) and
[DESIGN
GUIDELINES](https://github.com/aws/aws-cdk/blob/main/docs/DESIGN_GUIDELINES.md)

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*By submitting this pull request, I confirm that my contribution is made
under the terms of the Apache-2.0 license*