Standardize task queue validation

[pdoerner]

Is your feature request related to a problem? Please describe.
There are two places where high-level task queues are validated:

• In frontend workflow handler: https://github.com/temporalio/temporal/blob/main/service/frontend/workflow_handler.go#L4041
• And in history service command checker: https://github.com/temporalio/temporal/blob/main/service/history/command_checker.go#L809
  These two validations apply different rules and defaults.

Describe the solution you'd like
Task queue validation should be moved to a common helper and standardized across the code base.

Describe alternatives you've considered
A clear and concise description of any alternative solutions or features you've considered.

Additional context
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