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/warp_utils/Cargo.toml

@@ -8,7 +8,7 @@ edition = { workspace = true }
 [dependencies]
 bytes = { workspace = true }
 eth2 = { workspace = true }
-headers = "0.3.2"
+headers = "0.4"
 reqwest = { workspace = true }
 safe_arith = { workspace = true }
 serde = { workspace = true }