feat(config): throw ValidationErrors instead of untyped Errors (#33869)

### Issue # (if applicable)

Relates to #32569

### Reason for this change

untyped Errors are not recommended

### Description of changes

ValidationErrors everywhere

### Describe any new or updated permissions being added

None

### Description of how you validated changes

Existing tests. Exemptions granted as this is a refactor of existing code.

### 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: kaizencc

packages/aws-cdk-lib/.eslintrc.js

@@ -46,6 +46,7 @@ const enableNoThrowDefaultErrorIn = [
   'aws-codepipeline',
   'aws-codepipeline-actions',
   'aws-cognito',
+  'aws-config',
   'aws-docdb',
   'aws-ecr',
   'aws-efs',

packages/aws-cdk-lib/aws-config/lib/managed-rules.ts

@@ -2,7 +2,7 @@ import { Construct } from 'constructs';
 import { ManagedRule, ManagedRuleIdentifiers, ResourceType, RuleProps, RuleScope } from './rule';
 import * as iam from '../../aws-iam';
 import * as sns from '../../aws-sns';
-import { Duration, Lazy, Stack } from '../../core';
+import { Duration, Lazy, Stack, ValidationError } from '../../core';
 import { addConstructMetadata } from '../../core/lib/metadata-resource';
 
 /**
@@ -121,7 +121,7 @@ export interface CloudFormationStackNotificationCheckProps extends RuleProps {
 export class CloudFormationStackNotificationCheck extends ManagedRule {
   constructor(scope: Construct, id: string, props: CloudFormationStackNotificationCheckProps = {}) {
     if (props.topics && props.topics.length > 5) {
-      throw new Error('At most 5 topics can be specified.');
+      throw new ValidationError('At most 5 topics can be specified.', scope);
     }
 
     super(scope, id, {

packages/aws-cdk-lib/aws-config/lib/rule.ts

@@ -4,7 +4,7 @@ import { CfnConfigRule } from './config.generated';
 import * as events from '../../aws-events';
 import * as iam from '../../aws-iam';
 import * as lambda from '../../aws-lambda';
-import { IResource, Lazy, Resource, Stack } from '../../core';
+import { IResource, Lazy, Resource, Stack, ValidationError } from '../../core';
 import { addConstructMetadata } from '../../core/lib/metadata-resource';
 
 /**
@@ -424,7 +424,7 @@ export class CustomRule extends RuleNew {
     addConstructMetadata(this, props);
 
     if (!props.configurationChanges && !props.periodic) {
-      throw new Error('At least one of `configurationChanges` or `periodic` must be set to true.');
+      throw new ValidationError('At least one of `configurationChanges` or `periodic` must be set to true.', this);
     }
 
     const sourceDetails: SourceDetail[] = [];
@@ -542,10 +542,10 @@ export class CustomPolicy extends RuleNew {
     addConstructMetadata(this, props);
 
     if (!props.policyText || [...props.policyText].length === 0) {
-      throw new Error('Policy Text cannot be empty.');
+      throw new ValidationError('Policy Text cannot be empty.', this);
     }
     if ([...props.policyText].length > 10000) {
-      throw new Error('Policy Text is limited to 10,000 characters or less.');
+      throw new ValidationError('Policy Text is limited to 10,000 characters or less.', this);
     }
 
     const sourceDetails: SourceDetail[] = [];