(aws-stepfunctions-tasks): sagemaker runtime invoke endpoint

### Describe the feature

We need the ability to trigger a Sagemaker Endpoint from a step function. I am seeing that there are some available Sagemaker tasks [here](https://github.com/aws/aws-cdk/tree/74318c7d22bfc00de9e005f68a0a6aaa58c7db39/packages/%40aws-cdk/aws-stepfunctions-tasks/lib/sagemaker), but I am not seeing one for Sagemaker Runtime Invoke Endpoint.

In the AWS console's Step Function Workflow Studio, but we are not seeing this as an option in the CDK


### Use Case

Need to trigger sagemaker endpoint from step function using CDK

### Proposed Solution

_No response_

### Other Information

_No response_

### Acknowledgements

- [X] I may be able to implement this feature request
- [ ] This feature might incur a breaking change

### CDK version used

2.37.1 (build f15dee0)

### Environment details (OS name and version, etc.)

macOS Monterey 12.4

Start in packages/@aws-cdk/aws-stepfunctions-tasks/lib/sagemaker and compare the existing SageMaker task implementations with the Step Functions SageMaker Runtime Invoke Endpoint operation. Add the missing task support for triggering a SageMaker endpoint from a CDK step function, and verify it against the repository's relevant task tests.

Written by the indexing model from the issue text.