Reland "Build and use minadbd as a shared library."

This relands the previously reverted CL in commit
c70446ce ("Build and use minadbd as a
shared library."). `recovery` has been built with Soong, so the previous
concern (unintentionally installing `libminadbd_services.so` to normal
system image) no longer holds.

Note that `reocvery` can't use `libminadbd_services.a`, as functions
like `daemon_service_to_fd()` (needed by `libadbd.so`) won't be linked
into `recovery`.

This CL moves the dependency of `libminadbd_services` from `librecovery`
into `recovery`, as only the latter actually relies on it (via
`recovery_main.cpp`). Note that we no longer need to list the transitive
dependency on `libadbd` or `libasyncio`.

Bug: 112494634
Test: `mmma -j bootable/recovery`
Test: Build and boot into recovery with aosp_taimen-userdebug. Verify that
      sideloading keeps working.
Test: `build/soong/build_test.bash --dist`
Change-Id: Ic086470b86d6770bede317e0f5534f608fa7b7d2