binder: add openDeclaredPassthroughHal()

It handles dlopen()ing a declared native hal. This can replace
android_load_sphal_library to load declared native instance. The new API
also supports when instances are from APEX.

Bug: 316051788
Test: atest servicemanager_test
Test: atest vts_treble_vintf_vendor_test
Change-Id: I95b752253e0b550d38f0543ff56134d38d838855