Create Avro sink schema at time of stream/table creation

[vcrfxia]

Is your feature request related to a problem? Please describe.

Currently, when a user creates an Avro sink stream/table, KSQL does not register the Avro schema for the new topic to Schema Registry until the first record is processed. (This is because KSQL relies on the KafkaAvroSerializer to automatically register the schema to Schema Registry, and the serializer is only invoked when a record is processed.) However, this leads to unintuitive behavior such as in #3883:

• user issues a query that creates a sink stream with Avro format
• user wishes to define a KSQL table on the sink topic (from the stream above), but the request fails due to Avro schema for message values on topic <topic name> does not exist in the Schema Registry
• a record is sent to through the Streams app defined by the query
• user reissues the create table statement, and this time it succeeds

Describe the solution you'd like

KSQL should register the Avro schema with Schema Registry at the time the sink stream/table is defined, rather than waiting until the first record is processed.

Describe alternatives you've considered

N/A

Additional context

N/A

[vcrfxia]

Copied over the 0.7.0 milestone from #3883