[cryptolib] KMAC driver progress tracking

Nobody has claimed this yet.

With #16180, KMAC driver implements SHA-3/SHAKE/cSHAKE/KMAC, however there is still a list of improvements to be done. The idea is to keep track of these small issues and address them in follow-up PRs.

Non-exhaustive list, in an arbitrary order:

- [ ] Revisit default configuration. In particular check that internal timer values are working. https://github.com/lowRISC/opentitan/pull/16180#discussion_r1022532627
- [x] Address memory aliasing violations (when writing key, msg, and prefix blocks to registers). https://github.com/lowRISC/opentitan/pull/16180#discussion_r1022593434
- [ ] Verify that entropy mode is correctly configured and `entropy_ready` is correctly set. Since `entropy_ready` triggers the internal FSM of kmac_entropy, it needs to be set in a timely fashion.
- [x] Move towards high-level crypto API (e.g. provide one-shot `kmac()`, `shake()` calls, accept keys in masked/blinded form etc.).
- [x] Revisit error checks in the driver, provide functions to clear errors and flush out KMAC.
- [X] Use consistent status types for error return types.
- [x] More extensive testing with varying key_len, msg_len, digest_len, and customization string parameters. Once KMAC driver implementation is stable, use the same structs and clean up the testing side.
- See if [on-device testing](https://github.com/lowRISC/opentitan/pull/16906#discussion_r1061835953) can be done,
- [Add checks for XKCP](https://github.com/lowRISC/opentitan/pull/16906#discussion_r1055788164).
- [x] When connecting things to cryptolib's API, also bridge similar relevant libraries besides KMAC. For example, `otcrypto_hash` should interact with KMAC driver for `SHA-3` calls, but `SHA-2` should also be glued to the same function.
- [x] Optimize writing to `MSG_FIFO` (ref: #16909).
- [x] Implement sideload support for KMAC.

Read PR #16180 and its discussion first, then inspect the KMAC driver areas related to default configuration and entropy mode. Verify that internal timer values and entropy_ready behavior are correct, and use the existing testing references to confirm the driver’s behavior. Done means the remaining unchecked improvements are addressed and their tests or verification evidence are recorded.

Written by the indexing model from the issue text.