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>

common/axum_utils/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "axum_utils"
+version = "0.1.0"
+authors = ["Sigma Prime <contact@sigmaprime.io>"]
+edition = { workspace = true }
+
+[dependencies]
+axum = { workspace = true }
+axum-server = { version = "0.7", features = ["tls-rustls-no-provider"] }
+http = "1"
+serde = { workspace = true }
+thiserror = { workspace = true }
+tokio = { workspace = true }
+tower-http = { version = "0.6", features = ["cors", "set-header"] }
+
+[dev-dependencies]
+tower = { workspace = true }