Fix issue where ui:title in anyOf/oneOf is not shown in error messages

[chibacchie]

Reasons for making this change

Fixed issue where ui:title in anyOf/oneOf is not shown in error messages.

This fixes #4368 with the following limitations.

1. This is only applicable in the case missingProperty exists.
2. As schemaPath is not stable (see ajv-validator/ajv#512), this may cause unexpected results occasionally.

As the first limitation is not directly related to #4368, it should be fixed in a separate PR if it is really an issue.

The second limitation can be a known issue as this fix does not lead any degradation and the problem only happens with nested $ref (i.e. happen in very limited cases).

Checklist

• I'm updating documentation
  • I've checked the rendering of the Markdown text I've added
• I'm adding or updating code
  • I've added and/or updated tests. I've run npx nx run-many --target=build --exclude=@rjsf/docs && npm run test:update to update snapshots, if needed.
  • I've updated docs if needed
  • I've updated the changelog with a description of the PR
• I'm adding a new feature
  • I've updated the playground with an example use of the feature