Camera2: Optimize CameraDeviceSetup query during openCamera

CameraManager#openCamera currently ended up calling public CameraManager
methods to query for CameraDeviceSetup support. While this was
functionally correct, it led to a few extra binder calls which could
significantly increase the latency of openCamera.

This CL moves those calls to private methods that don't do as much error
checking to improve openCamera's performance.

Bug: 326270391
Test: atest PerformanceTest#testCameraLaunch
Change-Id: If78af62bbb78e6a0acd92eb445a884c17079e8ae