chore: release v5.1.0

[RiccardoM]

Description

This PR cherry picks the following changes for v5.1.0:

• Update MakeEncodingConfig return type (91658ba0db901c84deb407764fc595f6bed00b70)
• Bump Cosmos SDK to v0.47.3 (ae5c2f0fbcff20720145bd74325ffe596887977b)

---

Author Checklist

All items are required. Please add a note to the item if the item is not applicable and please add links to any relevant follow up issues.

I have...

• [ ] included the correct type prefix in the PR title
• [ ] added ! to the type prefix if API or client breaking change
• [ ] targeted the correct branch (see PR Targeting)
• [ ] provided a link to the relevant issue or specification
• [ ] followed the guidelines for building modules
• [ ] included the necessary unit and integration tests
• [ ] added a changelog entry to CHANGELOG.md
• [ ] included comments for documenting Go code
• [ ] updated the relevant documentation or specification
• [ ] reviewed "Files changed" and left comments if necessary
• [ ] confirmed all CI checks have passed

Reviewers Checklist

All items are required. Please add a note if the item is not applicable and please add your handle next to the items reviewed if you only reviewed selected items.

I have...

• [ ] confirmed the correct type prefix in the PR title
• [ ] confirmed ! in the type prefix if API or client breaking change
• [ ] confirmed all author checklist items have been addressed
• [ ] reviewed state machine logic
• [ ] reviewed API design and naming
• [ ] reviewed documentation is accurate
• [ ] reviewed tests and test coverage
• [ ] manually tested (if applicable)

[codecov[bot]]

Codecov Report

:exclamation: No coverage uploaded for pull request base (release/v5.1.x@9ea24b2). Click here to learn what that means. Patch has no changes to coverable lines.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## release/v5.1.x #1170 +/- ## ================================================= Coverage ? 80.84% ================================================= Files ? 187 Lines ? 16802 Branches ? 0 ================================================= Hits ? 13584 Misses ? 2622 Partials ? 596 ```

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