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/task_executor/src/lib.rs

@@ -405,7 +405,7 @@ impl TaskExecutor {
 
     /// Returns a future that completes when `async-channel::Sender` is dropped or () is sent,
     /// which translates to the exit signal being triggered.
-    pub fn exit(&self) -> impl Future<Output = ()> + 'static {
+    pub fn exit(&self) -> impl Future<Output = ()> + use<> + 'static {
         let exit = self.exit.clone();
         async move {
             let _ = exit.recv().await;