Issue #, if available: #2744
rebase of: #2745

Description of changes: Ensures that ThreadTask holds the PooledThreadExecutor's mutex between when it sees that the m_executor does not have any tasks, and when it waits on the condition variable.

Since AWS Semaphore does not take a mutex as parameter, replaces use of Semaphore with std::condition_variable here.

Check all that applies:

• Did a review by yourself.
• Added proper tests to cover this PR. (If tests are not applicable, explain.)
• Checked if this PR is a breaking (APIs have been changed) change.
• Checked if this PR will not introduce cross-platform inconsistent behavior.
• Checked if this PR would require a ReadMe/Wiki update.

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