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/http_api/Cargo.toml

@@ -6,6 +6,8 @@ edition = { workspace = true }
 autotests = false                               # using a single test binary compiles faster
 
 [dependencies]
+axum = { workspace = true }
+axum_utils = { workspace = true }
 beacon_chain = { workspace = true }
 beacon_processor = { workspace = true }
 bls = { workspace = true }
@@ -44,6 +46,7 @@ store = { workspace = true }
 sysinfo = { workspace = true }
 system_health = { path = "../../common/system_health" }
 task_executor = { workspace = true }
+thiserror = { workspace = true }
 tokio = { workspace = true }
 tokio-stream = { workspace = true }
 tracing = { workspace = true }