Support 'dependentRequired'

[sdirix]

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

'dependentRequired' is a feature of JSON Schema 2019-09.

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