Bump warp and begin axum migration (#9001)

- Bump `warp` to 0.4. This unifies `warp` and `axum` onto the same `http`, `hyper`, `h2`, `rustls`, etc versions.
- Create `axum_utils` which contain common functions and types
- Begins migration of all HTTP API servers from warp to axum


Co-Authored-By: Mac L <mjladson@pm.me>

beacon_node/Cargo.toml

@@ -16,6 +16,7 @@ testing = []
 
 [dependencies]
 account_utils = { workspace = true }
+axum_utils = { workspace = true }
 beacon_chain = { workspace = true }
 bls = { workspace = true }
 clap = { workspace = true }