[Bug]: When using beam.io.kinesis.ReadDataFromKinesis, a java error is raised in DataFlowRunner

### What happened?

"Error message from worker: generic::unknown: org.apache.beam.sdk.util.UserCodeException: java.lang.NullPointerException: Cannot invoke "org.apache.beam.sdk.io.kinesis.ShardReadersPool.getLatestRecordTimestamp()" because "this.shardReadersPool" is null
org.apache.beam.sdk.util.UserCodeException.wrap(UserCodeException.java:39)
org.apache.beam.sdk.io.Read$UnboundedSourceAsSDFWrapperFn$DoFnInvoker.invokeSplitRestriction(Unknown Source)
org.apache.beam.fn.harness.FnApiDoFnRunner.processElementForSplitRestriction(FnApiDoFnRunner.java:887)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:313)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:245)
org.apache.beam.fn.harness.FnApiDoFnRunner.outputTo(FnApiDoFnRunner.java:1788)
org.apache.beam.fn.harness.FnApiDoFnRunner.processElementForPairWithRestriction(FnApiDoFnRunner.java:824)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:313)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:245)
org.apache.beam.fn.harness.FnApiDoFnRunner.outputTo(FnApiDoFnRunner.java:1788)
org.apache.beam.fn.harness.FnApiDoFnRunner.access$3000(FnApiDoFnRunner.java:142)
org.apache.beam.fn.harness.FnApiDoFnRunner$NonWindowObservingProcessBundleContext.output(FnApiDoFnRunner.java:2506)
org.apache.beam.sdk.io.Read$OutputSingleSource.processElement(Read.java:1034)
org.apache.beam.sdk.io.Read$OutputSingleSource$DoFnInvoker.invokeProcessElement(Unknown Source)
org.apache.beam.fn.harness.FnApiDoFnRunner.processElementForParDo(FnApiDoFnRunner.java:799)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:313)
org.apache.beam.fn.harness.data.PCollectionConsumerRegistry$MetricTrackingFnDataReceiver.accept(PCollectionConsumerRegistry.java:245)
org.apache.beam.fn.harness.BeamFnDataReadRunner.forwardElementToConsumer(BeamFnDataReadRunner.java:213)
org.apache.beam.sdk.fn.data.BeamFnDataInboundObserver.multiplexElements(BeamFnDataInboundObserver.java:158)
org.apache.beam.fn.harness.control.ProcessBundleHandler.processBundle(ProcessBundleHandler.java:537)
org.apache.beam.fn.harness.control.BeamFnControlClient.delegateOnInstructionRequestType(BeamFnControlClient.java:151)
org.apache.beam.fn.harness.control.BeamFnControlClient$InboundObserver.lambda$onNext$0(BeamFnControlClient.java:116)
java.base/java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:539)
java.base/java.util.concurrent.FutureTask.run(FutureTask.java:264)
org.apache.beam.sdk.util.UnboundedScheduledExecutorService$ScheduledFutureTask.run(UnboundedScheduledExecutorService.java:163)
java.base/java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1136)
java.base/java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:635)
java.base/java.lang.Thread.run(Thread.java:833)
Caused by: java.lang.NullPointerException: Cannot invoke "org.apache.beam.sdk.io.kinesis.ShardReadersPool.getLatestRecordTimestamp()" because "this.shardReadersPool" is null
org.apache.beam.sdk.io.kinesis.KinesisReader.getSplitBacklogBytes(KinesisReader.java:172)
org.apache.beam.sdk.io.Read$UnboundedSourceAsSDFWrapperFn$UnboundedSourceAsSDFRestrictionTracker.getProgress(Read.java:999)
org.apache.beam.sdk.transforms.reflect.ByteBuddyDoFnInvokerFactory$DefaultGetSize.invokeGetSize(ByteBuddyDoFnInvokerFactory.java:432)
org.apache.beam.sdk.io.Read$UnboundedSourceAsSDFWrapperFn$DoFnInvoker.invokeGetSize(Unknown Source)
org.apache.beam.fn.harness.FnApiDoFnRunner$SizedRestrictionNonWindowObservingProcessBundleContext.output(FnApiDoFnRunner.java:2415)
org.apache.beam.sdk.io.Read$UnboundedSourceAsSDFWrapperFn.splitRestriction(Read.java:540)

### Issue Priority

Priority: 3 (minor)

### Issue Components

- [X] Component: Python SDK
- [x] Component: Java SDK
- [ ] Component: Go SDK
- [ ] Component: Typescript SDK
- [X] Component: IO connector
- [ ] Component: Beam examples
- [ ] Component: Beam playground
- [ ] Component: Beam katas
- [ ] Component: Website
- [ ] Component: Spark Runner
- [ ] Component: Flink Runner
- [ ] Component: Samza Runner
- [ ] Component: Twister2 Runner
- [ ] Component: Hazelcast Jet Runner
- [X] Component: Google Cloud Dataflow Runner