upgrade hyper, http and rustls

[NOBLES5E]

• changed: Updated rustls from 0.21 to 0.23.
• changed: Updated tokio-rustls from 0.24 to 0.26.
• changed: Updated hyper from 1.0.1 to 1.4.
• changed: Updated http from 1.0.0 to 1.1.
• added: rustls-pki-types dependency for the tls-rustls feature.
• changed: Replaced usage of rustls::Certificate and rustls::PrivateKey with rustls_pki_types::CertificateDer and rustls_pki_types::PrivateKeyDer.
• changed: Updated ServerConfig initialization to remove with_safe_defaults() call.
• changed: Updated ClientConfig initialization in tests to use dangerous() instead of with_safe_defaults().
• changed: Updated ServerCertVerifier implementation in tests to match new rustls API.
• changed: Minor version bumps for various dependencies including rustls-pemfile, serial_test, and tower-http.

Closes https://github.com/programatik29/axum-server/issues/123

[NOBLES5E]

@programatik29 @abs0luty Could you please review this when you have a chance? Thank you!

[programatik29]

I have been inactive for a while. Thanks for the PR. I will merge it soon.