Add option to shut down and fail data prepper when any sub-pipelines are invalid

Is your feature request related to a problem? Please describe.
The default behavior of Data Prepper core is to only shut down when no sub-pipelines are valid. This can lead to a confusing user experience, as someone who wants all sub-pipelines to be running correctly for data prepper to start.

Describe the solution you'd like
An optional parameter in the data-prepper-config.yaml to change this behavior to fail to start Data Prepper when any of the sub-pipelines are not configured properly. This would then throw an exception that stops Data Prepper when any sub-pipelines are misconfigured.

fail_on_any_sub_pipeline_failure: true // defaults to false

Describe alternatives you've considered (Optional)
A clear and concise description of any alternative solutions or features you've considered.

Additional context
Add any other context or screenshots about the feature request here.

Start by tracing how data-prepper-config.yaml is parsed and how invalid sub-pipelines affect Data Prepper startup. Determine where the optional fail_on_any_sub_pipeline_failure setting belongs, then follow the existing startup validation tests if present. Done means the default behavior remains unchanged and enabling the option stops startup when any sub-pipeline is invalid.