composer: AIDL HAL may replace HIDL HAL.

Relax the requirement on compatibility matrices that the HIDL
composer HAL must exist on devices with target level 7 as they
may have the AIDL composer HAL instead. Use
DeviceManifestTest.ComposerHal to enforce the requirement instead.

Bug: b/216514585
Test: vts_treble_vintf_vendor_test
Change-Id: I7fc85b3c8841d9686863ab52c8b5bb88e1f5ee0a