Audio: make core/4.0/default/Util.h version dependant

This patch does not have any functional change.
It refactors Util.h to make it version dependant.
This is needed in the next patch to add a helper
that uses HIDL types.

This patch is the fixed first half of
I41204c0807d2bd4675e941771cbc9a43d7d14855
that was reverted due to a merge conflict.

Bug: 72873273
Bug: 69811500
Bug: 69010523
Test: playback and record for media and voice call
Original-Change-Id: I41204c0807d2bd4675e941771cbc9a43d7d14855
Change-Id: Ie543519fa0dca62486b75f42bb0c8a93d6cad3c3
Signed-off-by: Kevin Rocard <krocard@google.com>