feat(pipelines): actions can default to the pipeline service role instead of a newly created role (#33991)

### Issue # 27065
#27605

### Reason for this change

Lots of customer reported they don't want such many new roles generated in cdk level.
Current cdk library will help customer to generate a action role if no role configured.
But in Codepipeline backend logic, the pipeline service role will be used as default action role, which the cdk library doesn't align.

### Description of changes

Support this field in L3 construct. L2 construct support has been delivered: d8bbc1c

### Describe any new or updated permissions being added

No


### Description of how you validated changes

Local deployment/unit test/integ test

### Checklist
- [Y] My code adheres to the [CONTRIBUTING GUIDE](https://github.com/aws/aws-cdk/blob/main/CONTRIBUTING.md) and [DESIGN GUIDELINES](https://github.com/aws/aws-cdk/blob/main/docs/DESIGN_GUIDELINES.md)

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*By submitting this pull request, I confirm that my contribution is made under the terms of the Apache-2.0 license*

Author: hwum