chip-tool-darwin: Support needed for commissioning devices over Thread / Soft-AP

[liamgonyea]

Problem

To fully test chip-tool-darwin as a DUT Commissioner, there needs to be support for commissioning over Thread and Soft-AP.

Example:
[TC-DM-3.3] Network Commissioning Commands [DUT - Commissioner]

See each step that lists PICS_WIFI (Soft-AP) or PICS_THREAD (Thread) that is needed to test chip-tool-darwin as the DUT Commissioner

[liamgonyea]

Using #16126 instead to track this issue.