feat: Improve modularity by introducing lib modules for cross depedencies

[jimmarino]

This PR is ongoing work to remove dependency tangles and improve modularity between different components. It introduces lib modules for shared implementations.

Linked Issue(s)

Related to #4028

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 72.72727% with 3 lines in your changes are missing coverage. Please review.

Project coverage is 74.11%. Comparing base (7f20ba5) to head (693a5b6).
Report is 167 commits behind head on main.

Files	Patch %	Lines
...onnector/ControlPlaneDefaultServicesExtension.java	0.00%	2 Missing ⚠️
...in/java/org/eclipse/edc/jsonld/TitaniumJsonLd.java	87.50%	0 Missing and 1 partial ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4046      +/-   ##
==========================================
+ Coverage   71.74%   74.11%   +2.36%     
==========================================
  Files         919      986      +67     
  Lines       18457    20006    +1549     
  Branches     1037     1118      +81     
==========================================
+ Hits        13242    14827    +1585     
+ Misses       4756     4699      -57     
- Partials      459      480      +21     

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