Enforce authentication if encryption is required

Original bug
Bug: 294854926

regressions:
Bug: 299570702
Bug: 299561281

Test: m com.android.btservices
Test: QA validation
Ignore-AOSP-First: security
(cherry picked from https://googleplex-android-review.googlesource.com/q/commit:0a8c39cda12639f0b08f5ca79bff6b5515ab20d9)
Merged-In: I0370ed2e3166d56f708e1981c2126526e1db9eaa
Change-Id: I0370ed2e3166d56f708e1981c2126526e1db9eaa