build: Automatically replace old-style kernel header includes with new header lib

Since we do this via soong and the result is a header library, just replace all
legacy include paths that point to the old header location with calls to the new
header library. Since we no longer have the legacy include, we can also remove
the additional dependency.

This reverts commit fa798218.

Change-Id: I716955534e50831e6568ca01e480aa8b90075d92