Broker doesn't get killed when the shutdown exceeds brokerShutdownTimeoutMs

**Describe the bug**

Broker should get killed after brokerShutdownTimeoutMs, which is 60 seconds by default.

```
# Time to wait for broker graceful shutdown. After this time elapses, the process will be killed
brokerShutdownTimeoutMs=60000
```

I have noticed that sometimes broker pods don't get stopped and pods will have to be manually killed.

**To Reproduce**

I haven't found a way to reproduce the problem.

**Expected behavior**

Broker should get killed after brokerShutdownTimeoutMs

**Additional context**

It looks like the brokerShutdownTimeoutMs feature stopped working as expected when [MessagingServiceShutdownHook](https://github.com/apache/pulsar/blob/9516e5db1a250d39101d0c7acda6d1fd8366c8d3/pulsar-broker/src/main/java/org/apache/pulsar/broker/MessagingServiceShutdownHook.java) got removed in https://github.com/apache/pulsar/pull/12146 .

It would be useful to print out the thread dump to System.out before killing the process with `Runtime.getRuntime().halt(1)`. This could help investigate why the shutdown is stuck.
```java
System.out.println(ThreadDumpUtil.buildThreadDiagnosticString());
```

Start by reading pulsar-broker/src/main/java/org/apache/pulsar/broker/MessagingServiceShutdownHook.java history and the current shutdown entry point, then inspect the brokerShutdownTimeoutMs handling. Check how ThreadDumpUtil.buildThreadDiagnosticString() could support diagnosing a stuck shutdown. Done means the broker is killed after the configured timeout and the relevant shutdown behavior is covered by tests.

Written by the indexing model from the issue text.