[companion] Get rid of `Peerset` compatibility layer (#2739)

* Init `PeerStore` in `build_collator_network`

* kick CI

* Update Cargo.lock for substrate

* Companion for substrate 14373

* Companion for paritytech/substrate#14020

* update lockfile for {"substrate", "polkadot"}

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Co-authored-by: Davide Galassi <davxy@datawok.net>
Co-authored-by: parity-processbot <>