Update the RKP aidl dependency

The RKP HAL is now in a new build-time dependency. The package has not
changed, so identity AIDL changes are needed.

We also need to fix up some VTS test dependencies.

This change is fully backwards-compatible.

Bug: 254112961
Test: N/A
Change-Id: Ie0e17bb2cdf77e1cc96b3bb5bc4579c918b1f003