Upgrade deployed bridges to use the new submit_finality_proof_ex call

[svyatonik]

See #2821 for details

The first required steps are:

• merge a PR to add required changes to runtime: Add submit_finality_proof_ex call to the GRANDPA pallet #2821
• merge a PR to add required changes to relayer: Pass finality proof verification context to the call builder #2823
• update bridges subtree in polkadot-sdk with Add submit_finality_proof_ex call to the GRANDPA pallet #2821: Introduce submit_finality_proof_ex call to bridges GRANDPA pallet polkadot-sdk#3225
• backport ^^^ to master: Backport two recent PRs from polkadot-staging branch #2828

Once Rococo and Westend bridge hubs are updated to include #2821:

• change Rococo <> Westend relayer code to use the submit_finality_proof_ex instead of submit_finality_proof: [Do Not Merge until RBH/WBH upgrade] Relayers use new submit_finality_proof_ex call in Rococo <> Westend bridge #2827;
• upgrade running relayer (e.g. https://polkadot.js.org/apps/#/explorer/query/0x5f05200c3195ebec971b422f82d22e526af50d79a86c41344db4cfdaa6c2e208)

Once Polkadot and Kusama bridge hubs are updated to include #2821 (it is in the 1.9 version of pallet-bridge-grandpa):

• change Polkadot <> Kusama relayer code to use the submit_finality_proof_ex instead of submit_finality_proof;
• upgrade running relayer

Once all chains and relayers are updated:

• remove the deprecated submit_finality_proof call
• rename the submit_finality_proof_ex to submit_finality_proof