Substrate companion: Authority discovery multiple peer ids (#4295)

* Substrate companion: Authority discovery multiple peer ids

Authority discovery before had a fixed mapping from `PeerId` to
`AuthorityId`. This wasn't correct, as a `PeerId` can actually map to
multiple `AuthorityId`s. The linked Substrate pr fixes this.

https://github.com/paritytech/substrate/pull/10259

* Update node/network/availability-distribution/src/requester/mod.rs

* Update node/network/collator-protocol/src/validator_side/mod.rs

* Update node/network/statement-distribution/src/tests.rs

* Update guide

* Adapt to Substrate pr

* Update Substrate