Support 'dependentRequired'

### Is your feature request related to a problem? Please describe.

'dependentRequired' is a feature of [JSON Schema `2019-09`](https://json-schema.org/draft/2019-09/release-notes#2019-09-release-notes).

We should support it.

### Describe the solution you'd like

Could be handled in util `getInvalidProperty`:

```
case 'dependentRequired':
return error.params.missingProperty
```

Add unit tests and an example

### Framework

Core

### RendererSet

_No response_

### Additional context

_No response_