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refactor(exec): streamline action execution and error handling

- Simplified the `on_after_run` lifecycle hook to return the result directly.
- Refactored `execute_action_with_timeout` to utilize `Task.Supervisor.async_nolink` for better task management and error handling.
- Enhanced timeout handling with clearer error messages and streamlined cleanup processes.
- Removed the `cleanup_task_group` function as task cleanup is now managed by `Task.Supervisor`.
- Added tests to ensure proper handling of action return shapes and timeout scenarios, including edge cases for atom safety.
- Introduced new tests for `on_after_run` behavior and strict return shape validation.