Allow for CDM associations w/o role grants.

VDM requires a valid CDM association with a matching device profile
to create a virtual device.

New TestApi only meant to be used in CTS. What it does:
 - Skip the role grant, so CTS can have a valid AssociationInfo object
   even if they don't meet the role requirements.
 - Skip the permission checks that CTS cannot have
 - Skip the consent dialog
 - Requires ASSOCIATE_COMPANION_DEVICES permission, which is given to
   Shell.
 - Requires no LSKF to be set-up on the device.

With this API in place, we can remove the support for self-managed
associations from CDM shell cmd and use it in the VDM CTS.

Bug: 391599609
Test: atest
Flag: EXEMPT test improvement

Change-Id: I26eeccb780a0a639f35a26df7b43dfcc29b3cbb3