Get rid of `libp2p` dependency in `sc-authority-discovery` (#5842)

## Issue
#4859 
## Description
This PR removes `libp2p` types in authority-discovery, and replace them
with network backend agnostic types from `sc-network-types`.
 The `sc-network` interface is therefore updated accordingly.

---------

Co-authored-by: Bastian Köcher <[email protected]>
Co-authored-by: command-bot <>
Co-authored-by: Dmitry Markin <[email protected]>
Co-authored-by: Alexandru Vasile <[email protected]>