libaudiohal: Dynamically load appropriate HIDL shim library

Remove static linking to libaudiohal@N.0.so libraries.
Instead, use HIDL IServiceManager to figure out the actual
version used by the device and load the appropriate library
dynamically.

Bug: 142480271
Bug: 148118201
Test: make and check audio on the device
Change-Id: I8e6eb9eeef3335da516d983d5d4f0f1b128ef0a6