Reorganize the code for checking auth requirement

Original bug
Bug: 294854926

regressions:
Bug: 299570702

Test: m com.android.btservices
Test: QA validation, existing test should pass
Ignore-AOSP-First: security
Merged-In: I976a5a6d7bb819fd6accdc71eb1501b9606f3ae4
Change-Id: I976a5a6d7bb819fd6accdc71eb1501b9606f3ae4