fix(util-create-request): fix creating undefined request

[AllanZhengYP]

Issue #, if available:
fix: #788

Description of changes:

Use command.resolveMiddleware() to generate request instead of
concatenating middleware stacks manually. This fix
also includes build stage to creating request. Because build
stage sometimes contains necessary middleware to build a correct
request. For example, S3's bucket endpoint middleware is located
in build stage. Host header is also necessary, if users want to
sign the generated request directly.

Verify it works with s3 presigned url:

const { createRequest } = require("@aws-sdk/util-create-request");
const {formatUrl} = require("@aws-sdk/util-format-url");
const {S3RequestPresigner} = require("@aws-sdk/s3-request-presigner");
const { S3Client, GetObjectCommand } = require("@aws-sdk/client-s3");

(async () => {
  const client = new S3Client({region: "us-west-2"});
  const command = new GetObjectCommand({
    Bucket: "bucket",
    Key: "test"
  });

  try {
    const request = await createRequest(
      client,
      command
    );
    const presigner = new S3RequestPresigner({...client.config});
    const signed = await presigner.presignRequest(request, new Date(Date.now() + 900 * 1000));
    console.log(formatUrl(signed))
  } catch(e) {
    console.log(e)
  }
})();

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Codecov Report

Merging #803 into smithy-codegen will increase coverage by 0.03%.
The diff coverage is 83.33%.

@@                Coverage Diff                 @@
##           smithy-codegen     #803      +/-   ##
==================================================
+ Coverage           92.21%   92.24%   +0.03%     
==================================================
  Files                 144      144              
  Lines                2851     2851              
  Branches              489      489              
==================================================
+ Hits                 2629     2630       +1     
+ Misses                222      221       -1

Impacted Files	Coverage Δ
packages/util-create-request/src/index.ts	100% <100%> (ø)	⬆️
packages/util-create-request/src/foo.fixture.ts	78.57% <66.66%> (+11.9%)	⬆️

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