Get rid of `libp2p` dependency in `sc-authority-discovery` #13643

Job	Run time
check-dependency-rules	10s
check-fail-ci	15s
check-markdown	14s
check-workspace	18s
preflight / preflight	45s
preflight / ci-versions	1m 0s
check-rust-feature-propagation	2m 8s
fmt	1m 9s
test-rust-features	2m 8s
check-toml-format	59s
check-umbrella	2m 26s
All quick checks passed	1s
	11m 33s

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