Lazy init property configs.

This is the first step towards supporting delayed property config
discovery. Right now this does not bring too much benefit since
essential system service such as carwatchdog is still querying
property conifg early in the boot process. In the future once
we separate essential properties with non-essential properties,
we can improve more.

Test: atest DefaultVehicleHalTest
Bug: 342470570
Change-Id: Ie85aa163fa9128aa061dd5b3221954c7acac050c