Symfony version(s) affected: 3.4.32

Description
When you throw a AccessDeniedException in a controller and no firewall is defined, a 500 error code is given instead of the expected 403.

How to reproduce

• make a new project (symfony new app)
• in a new controller/action, write throw new AccessDeniedException(); or throw $this->createAccessDeniedException();
• call page
• a 500 error is raised.

Expected
A 403 error should be raised.

Notes
I know there are similar issues but they all are closed without having been fixed - for what I've seen.
(#15236 #11663 #19906 #8467 #20233)