fix(events-targets): kinesis Stream target with Customer-Managed KMS key causes EventBridge FailedInvocations (#31836)

### Issue # (if applicable)

Closes #10996.

### Reason for this change
When a Kinesis Stream is encrypted with a custom managed KMS key, CDK will generate a KMS key for the Kinesis Stream.
```
stream = new kinesis.Stream(stack, 'MyStream', {
  encryption: kinesis.StreamEncryption.KMS,
});
```

If it is used as a events target, CDK will provide permissions to the role of target so it can write to the kinesis stream:
```
{
     Action: ['kinesis:PutRecord', 'kinesis:PutRecords'],
     Effect: 'Allow',
     Resource: streamArn,
}
```

If the kinesis is not encrypted with the customer managed kms key, these permissions will be sufficient. However, since the kinesis is encrypted with the the customer managed kms key, the invocation will fail because events doesn't have the permissions to the KMS key.

Actually there's already `grantWrite()` method to grant sufficient permissions in this case. When a customer managed KMS key is used, it will generate extra policies for the key. We should use it.
https://github.com/aws/aws-cdk/blob/366b4927c50168113dd4057f6255ab6c76278135/packages/aws-cdk-lib/aws-kinesis/lib/stream.ts#L355

Difference:

these permissions will be added to the event
```
{
     Action: ['kinesis:ListShards(new permission)', 'kinesis:PutRecord', 'kinesis:PutRecords'],
     Effect: 'Allow',
     Resource: streamArn,
}
```

these permissions will be added to the event if the target kinesis stream is using a customer managed KMS key
```
{
    Action: ['kms:Encrypt', 'kms:ReEncrypt*', 'kms:GenerateDataKey*'],
    Effect: 'Allow',
    Resource: streamKeyArn,
},
```

### Description of changes

Use the existing `grantWrite()` method instead of manipulating IAM policies directly.

### Description of how you validated changes

unit tests/integration tests

### Checklist
- [ ] 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)

----

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

Author: xazhao

packages/@aws-cdk-testing/framework-integ/test/aws-events-targets/test/kinesis/integ.kinesis-stream-customer-key.js.snapshot/KinesisKmsDefaultTestDeployAssertF9D5974E.assets.json

@@ -0,0 +1,180 @@
+{
+ "Resources": {
+  "MyStreamKey76F3300E": {
+   "Type": "AWS::KMS::Key",
+   "Properties": {
+    "Description": "Created by aws-cdk-kinesis-event-target/MyStream",
+    "KeyPolicy": {
+     "Statement": [
+      {
+       "Action": "kms:*",
+       "Effect": "Allow",
+       "Principal": {
+        "AWS": {
+         "Fn::Join": [
+          "",
+          [
+           "arn:",
+           {
+            "Ref": "AWS::Partition"
+           },
+           ":iam::",
+           {
+            "Ref": "AWS::AccountId"
+           },
+           ":root"
+          ]
+         ]
+        }
+       },
+       "Resource": "*"
+      }
+     ],
+     "Version": "2012-10-17"
+    }
+   },
+   "UpdateReplacePolicy": "Retain",
+   "DeletionPolicy": "Retain"
+  },
+  "MyStream5C050E93": {
+   "Type": "AWS::Kinesis::Stream",
+   "Properties": {
+    "RetentionPeriodHours": 24,
+    "ShardCount": 1,
+    "StreamEncryption": {
+     "EncryptionType": "KMS",
+     "KeyId": {
+      "Fn::GetAtt": [
+       "MyStreamKey76F3300E",
+       "Arn"
+      ]
+     }
+    }
+   },
+   "UpdateReplacePolicy": "Retain",
+   "DeletionPolicy": "Retain"
+  },
+  "MyStreamEventsRole5B6CC6AF": {
+   "Type": "AWS::IAM::Role",
+   "Properties": {
+    "AssumeRolePolicyDocument": {
+     "Statement": [
+      {
+       "Action": "sts:AssumeRole",
+       "Effect": "Allow",
+       "Principal": {
+        "Service": "events.amazonaws.com"
+       }
+      }
+     ],
+     "Version": "2012-10-17"
+    }
+   }
+  },
+  "MyStreamEventsRoleDefaultPolicy2089B49E": {
+   "Type": "AWS::IAM::Policy",
+   "Properties": {
+    "PolicyDocument": {
+     "Statement": [
+      {
+       "Action": [
+        "kinesis:ListShards",
+        "kinesis:PutRecord",
+        "kinesis:PutRecords"
+       ],
+       "Effect": "Allow",
+       "Resource": {
+        "Fn::GetAtt": [
+         "MyStream5C050E93",
+         "Arn"
+        ]
+       }
+      },
+      {
+       "Action": [
+        "kms:Encrypt",
+        "kms:GenerateDataKey*",
+        "kms:ReEncrypt*"
+       ],
+       "Effect": "Allow",
+       "Resource": {
+        "Fn::GetAtt": [
+         "MyStreamKey76F3300E",
+         "Arn"
+        ]
+       }
+      }
+     ],
+     "Version": "2012-10-17"
+    },
+    "PolicyName": "MyStreamEventsRoleDefaultPolicy2089B49E",
+    "Roles": [
+     {
+      "Ref": "MyStreamEventsRole5B6CC6AF"
+     }
+    ]
+   }
+  },
+  "EveryMinute2BBCEA8F": {
+   "Type": "AWS::Events::Rule",
+   "Properties": {
+    "ScheduleExpression": "rate(1 minute)",
+    "State": "ENABLED",
+    "Targets": [
+     {
+      "Arn": {
+       "Fn::GetAtt": [
+        "MyStream5C050E93",
+        "Arn"
+       ]
+      },
+      "Id": "Target0",
+      "KinesisParameters": {
+       "PartitionKeyPath": "$.id"
+      },
+      "RoleArn": {
+       "Fn::GetAtt": [
+        "MyStreamEventsRole5B6CC6AF",
+        "Arn"
+       ]
+      }
+     }
+    ]
+   }
+  }
+ },
+ "Parameters": {
+  "BootstrapVersion": {
+   "Type": "AWS::SSM::Parameter::Value<String>",
+   "Default": "/cdk-bootstrap/hnb659fds/version",
+   "Description": "Version of the CDK Bootstrap resources in this environment, automatically retrieved from SSM Parameter Store. [cdk:skip]"
+  }
+ },
+ "Rules": {
+  "CheckBootstrapVersion": {
+   "Assertions": [
+    {
+     "Assert": {
+      "Fn::Not": [
+       {
+        "Fn::Contains": [
+         [
+          "1",
+          "2",
+          "3",
+          "4",
+          "5"
+         ],
+         {
+          "Ref": "BootstrapVersion"
+         }
+        ]
+       }
+      ]
+     },
+     "AssertDescription": "CDK bootstrap stack version 6 required. Please run 'cdk bootstrap' with a recent version of the CDK CLI."
+    }
+   ]
+  }
+ }
+}