GnuTLS | Minor cleanup of HPKE API (!2097)

Daiki Ueno created a merge request: https://gitlab.com/gnutls/gnutls/-/merge_requests/2097

Project:Branches: dueno/gnutls:wip/dueno/hpke2 to gnutls/gnutls:master
Author:   Daiki Ueno



<!-- Add a description of the new feature/bug fix. Reference any relevant bugs. -->

This is an assorted cleanups to the new HPKE API. Mainly:
- limit the number of public functions
- make encap/decap stateless for auth and PSK to avoid copying keys
- make it possible to toggle HPKE support with `--disable-hpke`

## Checklist
 * [x] Commits have `Signed-off-by:` with name/author being identical to the commit author
 * [ ] Code modified for feature
 * [ ] Test suite updated with functionality tests
 * [ ] Test suite updated with negative tests
 * [x] Documentation updated / NEWS entry present (for non-trivial changes)

## Reviewer's checklist:
 * [ ] Any issues marked for closing are addressed
 * [ ] There is a test suite reasonably covering new functionality or modifications
 * [ ] Function naming, parameters, return values, types, etc., are consistent and according to `CONTRIBUTION.md`
 * [ ] This feature/change has adequate documentation added
 * [ ] No obvious mistakes in the code

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