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>

validator_client/http_api/Cargo.toml

@@ -13,6 +13,8 @@ testing = ["dep:deposit_contract", "dep:doppelganger_service", "dep:tempfile"]
 
 [dependencies]
 account_utils = { workspace = true }
+axum = { workspace = true }
+axum_utils = { workspace = true }
 beacon_node_fallback = { workspace = true }
 bls = { workspace = true }
 deposit_contract = { workspace = true, optional = true }
@@ -42,6 +44,7 @@ sysinfo = { workspace = true }
 system_health = { workspace = true }
 task_executor = { workspace = true }
 tempfile = { workspace = true, optional = true }
+thiserror = { workspace = true }
 tokio = { workspace = true }
 tokio-stream = { workspace = true }
 tracing = { workspace = true }