camera : Allow non bc camera devices through getConcurrentStreamingCameraIds

Also Add y16 stream combinations to configureConcurrentStreamsAvailableOutputs vts test

Bug: 159247271

Test: VtsHalCameraProviderV2_4TargetTest
      --gtest_filter=PerInstance/CameraHidlTest.configureConc* on
      cuttlefish

Change-Id: If5fea1fc47a3bcc8d3695e23f01a55091c246eda
Signed-off-by: Jayant Chowdhary <jchowdhary@google.com>