Get rid of `libp2p` dependency in `sc-authority-discovery` #13651

Job	Run time
check-dependency-rules	9s
check-fail-ci	18s
check-markdown	21s
check-workspace	20s
preflight / preflight	47s
preflight / ci-versions	57s
fmt	1m 14s
check-rust-feature-propagation	2m 9s
check-toml-format	1m 3s
check-umbrella	2m 24s
test-rust-features	2m 16s
All quick checks passed	1s
	11m 59s

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