Sk VTS: Policy gating & Out of Seq req rejection

1. Add a test to check Access control in Secretkeeper HAL: Construct
   dice chains with different security version and check that the secret
   is accessible with upgraded dice chain && DicePolicyError is thrown
   when the access is requested using a dice chain with lower security
   version.

2. Re-enable test #replay_protection_out_of_seq_req_not_accepted - This
   was disabled because the method would not panic when run on
   devices without Sk HAL, causing test failure. Refactor the test to
   check the error instead of unwrapping.

Many methods of SkClient struct are refactored to return Error (also
introduced in this patch) instead of panicking on error.

Test: atest VtsSecretkeeperTargetTest
Bug: 291224769
Bug: 317416663
Change-Id: I646783e034064f81625a978a2bcacf143ff60c87