[Feature Request]: Support running multi-language pipelines locally without Docker

### What would you like to happen?

Currently, multi-language pipelines require Docker execution mode (Docker SDK harness containers when executing the pipeline). This means that multi-language pipelines may not work appropriately for environments where pipelines have to be started from Docker containers and run locally (for example, when running pipelines within a K8 cluster).

This is to track work related to supporting this potentially with new Prism runner.

cc: @robertwb @lostluck

### Issue Priority

Priority: 2 (default / most feature requests should be filed as P2)

### Issue Components

- [ ] Component: Python SDK
- [ ] Component: Java SDK
- [ ] Component: Go SDK
- [ ] Component: Typescript SDK
- [ ] 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
- [ ] Component: Google Cloud Dataflow Runner