feat: enable parallel tool execution in ToolInvoker (#9530)

* Enable parallel tool execution in ToolInvoker

* Update handling of errors

* Small fixes

* Small fixes

* Adapt number of executors

* Add release notes

* Add parallel tool calling to sync run

* Deprecate async_executor

* Deprecate async_executor

* Add thread lock

* extract methods

* Update release notes

* Update release notes

* Updates

* Add new tests

* Add test for async

* PR comments

Author: Amnah199