Dependency errors do not show `title` or `ui:title`

Prerequisites

• I have searched the existing issues
• I understand that providing a SSCCE example is tremendously useful to the maintainers.
• I have read the documentation
• Ideally, I'm providing a sample JSFiddle, Codesandbox.io or preferably a shared playground link demonstrating the issue.

What theme are you using?

validator-ajv8

Version

5.23.1

Current Behavior

Dependency errors do not show title or ui:title.

const Ajv2019 = require('ajv/dist/2019');
const { customizeValidator } = require('@rjsf/validator-ajv8');

const schema = {
  type: 'object',
  properties: {
    creditCard: {
      type: 'number',
      title: 'Credit card',
    },
    billingAddress: {
      type: 'string',
      title: 'Billing address',
    },
  },
  dependentRequired: {
    creditCard: ['billingAddress'],
  },
};

const validator = customizeValidator({ AjvClass: Ajv2019 });
const result = validator.validateFormData({ creditCard: 1234567890 }, schema);
console.log(result.errors[0].message);

This results in must have property billingAddress when property creditCard is present.

Expected Behavior

must have property 'Billing address' when property 'Credit card' is present is expected.

There are two possible causes:

1. ajv does not enclose raw property names with quotes (see here) while transformRJSFValidationErrors() expects property names are enclosed.
2. transformRJSFValidationErrors() only handles missingProperty (see this block). property and deps should be handled as well.

Steps To Reproduce

Please see above.

Environment

- OS: Ubuntu 24.04
- Node: 18.20.2
- npm: 10.5.0

Anything else?

No response