[8.x](backport #41727) mod: update elastic/mito to version v1.16.0

[mergify[bot]]

Proposed commit message

This brings string formatting and DX improvements.

• sprintf for string formatting
• evaluation failure state dumping
• test coverage support

Wiring for failure dumps and test coverage will come in future changes.

Checklist

• [ ] My code follows the style guidelines of this project
• [ ] I have commented my code, particularly in hard-to-understand areas
• [ ] I have made corresponding changes to the documentation
• [ ] I have made corresponding change to the default configuration files
• [ ] I have added tests that prove my fix is effective or that my feature works
• [ ] I have added an entry in CHANGELOG.next.asciidoc or CHANGELOG-developer.next.asciidoc.

Disruptive User Impact

Author's Checklist

• [ ]

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This is an automatic backport of pull request #41727 done by Mergify.

[elasticmachine]

Pinging @elastic/security-service-integrations (Team:Security-Service Integrations)