health: AIDL HAL may replace HIDL HAL.

Relax the requirement on compatibility matrices
that HIDL health HAL must exist on devices with
target level 3~6, because they may have the AIDL
health HAL instead. Use DeviceManifestTest.HealthHal
to enforce the requirement.

Test: TH
Bug: 211518384
Change-Id: I9f82278bd10e2bd775705041630bcb6f421df8b8