Enable automatic creation of required nested directories

[vs-abhinav-dev]

This PR updates check_output_dir() to handle creation of nested directories, similar to the mkdir -p command.

changes made

• make mkdir_p to create nested directory and used it in check_output_dir
• added a header <errno.h> for mkdir_p() error handling

Reason
The previous implementation only supported single-level directory creation, causing failures for paths with multiple missing subdirectories.

Testing was done locally, can confirm it works.