feat(core): verify CfnOutput has a value and fix VPC export

[eladb]

Throw an error if value is undefined when defining a CfnOutput.

Fixes #2012 such that a VPC can be exported without a VPN gateway (there
is already unit test coverage).

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Pull Request Checklist

• Testing
  • Unit test added (prefer not to modify an existing test, otherwise, it's probably a breaking change)
  • CLI change?: coordinate update of integration tests with team
  • cdk-init template change?: coordinated update of integration tests with team
• Docs
  • jsdocs: All public APIs documented
  • README: README and/or documentation topic updated
• Title and Description
  • Change type: title prefixed with fix, feat will appear in changelog
  • Title: use lower-case and doesn't end with a period
  • Breaking?: last paragraph: "BREAKING CHANGE: <describe what changed + link for details>"
  • Issues: Indicate issues fixed via: "Fixes #xxx" or "Closes #xxx"
• Sensitive Modules (requires 2 PR approvers)
  • IAM Policy Document (in @aws-cdk/aws-iam)
  • EC2 Security Groups and ACLs (in @aws-cdk/aws-ec2)
  • Grant APIs (only if not based on official documentation with a reference)

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[mergify]

Thanks so much for taking the time to contribute to the AWS CDK ❤️

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checklist:

• PR title type(scope): text
  • type: fix, feat, refactor go into CHANGELOG, chore is hidden
  • scope: name of module without aws- or cdk- prefix or postfix (e.g. s3 instead of aws-s3-deployment)
  • text: use all lower-case, do not end with a period, do not include issue refs
• PR Description
  • Rationale: describe rationale of change and approach taken
  • Issues: indicate issues fixed via: fixes #xxx or closes #xxx
  • Breaking?: last paragraph: BREAKING CHANGE: <describe what changed + link for details>
• Testing
  • Unit test added. Prefer to add a new test rather than modify existing tests
  • CLI or init templates change? Re-run/add CLI integration tests
• Documentation
  • README: update module README to describe new features
  • API docs: public APIs must be documented. Copy from official AWS docs when possible
  • Design: for significant features, follow design process