Revert "Revert "[avf] Adjust IRPC VTS tests to handle AVF in uns..."

Revert submission 2812435-revert-2778549-expose-avf-rkp-hal-GTFGLMUUKQ

Reason for revert: This change relands the topic
https://r.android.com/q/topic:%22expose-avf-rkp-hal%22
This SELinux denial has been fixed in system/sepolicy

Reverted changes: /q/submissionid:2812435-revert-2778549-expose-avf-rkp-hal-GTFGLMUUKQ

Change-Id: Ia1aed212bf8de4b81239997cc1d1ca665cc456eb