Advanced Generics: Type-Safe Dynamic Configuration Mapper

Design a highly flexible configuration mapping utility in TypeScript that supports deeply nested object transformations with complete type safety. The utility should allow runtime configuration mapping between different object schemas while maintaining strict type constraints. Implement robust error handling for mismatched types, support optional/partial mappings, and create a generic type inference mechanism that preserves original type relationships. Demonstrate the solution using a complex configuration scenario involving multiple nested interfaces with varying optional properties.