feat: add rpc VerifyMembershipProof - querier approach for conditional clients (backport #5821)

[mergify]

Description

Adds the new Query service rpc VerifyMembershipProof outlined in #5310. Big thanks to @srdtrk for the initial deep dive on this issue.

closes: #5310

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• Targeted PR against the correct branch (see CONTRIBUTING.md).
• Linked to Github issue with discussion and accepted design OR link to spec that describes this work.
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• Wrote unit and integration tests.
• Updated relevant documentation (docs/) or specification (x/<module>/spec/).
• Added relevant godoc comments.
• Provide a commit message to be used for the changelog entry in the PR description for review.
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This is an automatic backport of pull request #5821 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of ed9bf74 has failed:

On branch mergify/bp/release/v8.3.x/pr-5821
Your branch is up to date with 'origin/release/v8.3.x'.

You are currently cherry-picking commit ed9bf74c.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   modules/core/02-client/keeper/grpc_query.go
	modified:   modules/core/02-client/keeper/grpc_query_test.go
	modified:   modules/core/02-client/types/query.pb.go
	modified:   modules/core/02-client/types/query.pb.gw.go
	modified:   modules/core/keeper/grpc_query.go
	modified:   proto/ibc/core/client/v1/query.proto

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   docs/client/swagger-ui/swagger.yaml
	deleted by us:   modules/light-clients/08-wasm/types/querier.go
	deleted by us:   modules/light-clients/08-wasm/types/querier_test.go

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[DimitrisJim]

this could do with a changelog entry?