fix(stepfunctions-tasks): fix the generated IAM policy for EFS operations (#30896)

### Issue # (if applicable)

Closes #30862.

### Reason for this change
Per [TagResource](https://docs.aws.amazon.com/efs/latest/ug/API_TagResource.html), the operation requires permissions for the `elasticfilesystem:TagResource` action. Also per [AWS managed policies for Amazon EFS](https://docs.aws.amazon.com/efs/latest/ug/security-iam-awsmanpol.html), all the `Action`(s) are prefixed with `elasticfilesystem:` (not `efs`).

### Description of changes
Updates the `iamServiceMap` that maintains list of services having mapping to IAM policy prefix names.

### Description of how you validated changes
Added unit test and integration test (along with snapshot).

### Checklist
- [x] 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: ashishdhingra

Diff for: packages/@aws-cdk-testing/framework-integ/test/aws-stepfunctions-tasks/test/aws-sdk/integ.call-aws-service-efs.js.snapshot/IntegTestDefaultTestDeployAssertE3E7D2A4.assets.json

@@ -0,0 +1,105 @@
+{
+ "Resources": {
+  "StateMachineRoleB840431D": {
+   "Type": "AWS::IAM::Role",
+   "Properties": {
+    "AssumeRolePolicyDocument": {
+     "Statement": [
+      {
+       "Action": "sts:AssumeRole",
+       "Effect": "Allow",
+       "Principal": {
+        "Service": "states.amazonaws.com"
+       }
+      }
+     ],
+     "Version": "2012-10-17"
+    }
+   }
+  },
+  "StateMachineRoleDefaultPolicyDF1E6607": {
+   "Type": "AWS::IAM::Policy",
+   "Properties": {
+    "PolicyDocument": {
+     "Statement": [
+      {
+       "Action": "elasticfilesystem:tagResource",
+       "Effect": "Allow",
+       "Resource": "*"
+      }
+     ],
+     "Version": "2012-10-17"
+    },
+    "PolicyName": "StateMachineRoleDefaultPolicyDF1E6607",
+    "Roles": [
+     {
+      "Ref": "StateMachineRoleB840431D"
+     }
+    ]
+   }
+  },
+  "StateMachine2E01A3A5": {
+   "Type": "AWS::StepFunctions::StateMachine",
+   "Properties": {
+    "DefinitionString": {
+     "Fn::Join": [
+      "",
+      [
+       "{\"StartAt\":\"TagEfsAccessPoint\",\"States\":{\"TagEfsAccessPoint\":{\"End\":true,\"Type\":\"Task\",\"ResultPath\":null,\"Resource\":\"arn:",
+       {
+        "Ref": "AWS::Partition"
+       },
+       ":states:::aws-sdk:efs:tagResource\",\"Parameters\":{\"ResourceId.$\":\"$.pathToArn\",\"Tags\":[{\"Key\":\"MYTAGNAME\",\"Value.$\":\"$.pathToId\"}]}}}}"
+      ]
+     ]
+    },
+    "RoleArn": {
+     "Fn::GetAtt": [
+      "StateMachineRoleB840431D",
+      "Arn"
+     ]
+    }
+   },
+   "DependsOn": [
+    "StateMachineRoleDefaultPolicyDF1E6607",
+    "StateMachineRoleB840431D"
+   ],
+   "UpdateReplacePolicy": "Delete",
+   "DeletionPolicy": "Delete"
+  }
+ },
+ "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."
+    }
+   ]
+  }
+ }
+}