Add useful configurations for local development

We already have the tooling and we can run envoy-control locally while connecting to an environment set up with docker-compose. However, current configuration files aren't utilizing more advanced features, like mTLS and RBAC. That hinders experimenting and testing with these functionalities. Also, creating a configuration for envoy-control and envoy connecting to is from the ground up every time I want to experiment is time-consuming.
I'd like to have a set of configurations utilizing HTTP2, mTLS, RBAC (or at least a base configuration with all of these predefined) on which I could easily start experimenting.