Remove temporary workarounds in AIDL HAL config processing

Removed the code in DevicesFactoryHalAidl::openDevice which
was checking whether the module is actually published.

Removed the fallback to default surround sound config
when AIDL HAL provided an empty config (this is not allowed).

Bug: 205884982
Test: use CF with AIDL audio HAL
Change-Id: I1b614e62a28ae1662a3c7fccce62aa943da9431d