Replace build time authentication config with runtime

BTM_DISABLE_CONCURRENT_PEER_AUTH is now replaced with a system
properties:
  bluetooth.btm.sec.concurrent_peer_auth.enabled

Note that the condition is inverted to match the system_properties
pattern that looks for enabled and not ~disabled~

Bug: 263323082
Test: manual
Change-Id: Iabc456f2ec67840d633965e61eef3c2047fcc504