upgrade to libp2p 0.52 (#4431)

## Issue Addressed

Upgrade libp2p to v0.52

## Proposed Changes
- **Workflows**: remove installation of `protoc`
- **Book**: remove installation of `protoc`
- **`Dockerfile`s and `cross`**: remove custom base `Dockerfile` for cross since it's no longer needed. Remove `protoc` from remaining `Dockerfiles`s
- **Upgrade `discv5` to `v0.3.1`:** we have some cool stuff in there: no longer needs `protoc` and faster ip updates on cold start
- **Upgrade `prometheus` to `0.21.0`**, now it no longer needs encoding checks
- **things that look like refactors:** bunch of api types were renamed and need to be accessed in a different (clearer) way
- **Lighthouse network**
	- connection limits is now a behaviour
	- banned peers no longer exist on the swarm level, but at the behaviour level
	- `connection_event_buffer_size` now is handled per connection with a buffer size of 4
	- `mplex` is deprecated and was removed
	- rpc handler now logs the peer to which it belongs

## Additional Info

Tried to keep as much behaviour unchanged as possible. However, there is a great deal of improvements we can do _after_ this upgrade:
- Smart connection limits: Connection limits have been checked only based on numbers, we can now use information about the incoming peer to decide if we want it
- More powerful peer management: Dial attempts from other behaviours can be rejected early
- Incoming connections can be rejected early
- Banning can be returned exclusively to the peer management: We should not get connections to banned peers anymore making use of this
- TCP Nat updates: We might be able to take advantage of confirmed external addresses to check out tcp ports/ips


Co-authored-by: Age Manning <Age@AgeManning.com>
Co-authored-by: Akihito Nakano <sora.akatsuki@gmail.com>

book/src/setup.md

@@ -14,8 +14,6 @@ The additional requirements for developers are:
   don't have `anvil` available on your `PATH`.
 - [`cmake`](https://cmake.org/cmake/help/latest/command/install.html). Used by
   some dependencies. See [`Installation Guide`](./installation.md) for more info.
-- [`protoc`](https://github.com/protocolbuffers/protobuf/releases) required for
-  the networking stack.
 - [`java 11 runtime`](https://openjdk.java.net/projects/jdk/). 11 is the minimum,
   used by web3signer_tests.
 - [`libpq-dev`](https://www.postgresql.org/docs/devel/libpq.html). Also know as