[dv/lc_ctrl] use escalation agent

### Description

- [ ] In https://cs.opensource.google/opentitan/opentitan/+/master:hw/ip/lc_ctrl/dv/env/seq_lib/lc_ctrl_errors_vseq.sv
`lc_ctrl_errors_vseq.sv` currently manually drive escalation input.
For future release, it can enhance the esc_agent and use the agent to drive.

- [ ] In `tb.sv`: https://cs.opensource.google/opentitan/opentitan/+/master:hw/ip/lc_ctrl/dv/tb.sv;l=108
Add a separate clock and reset for the kmac interface.
This is listed for future release because the current chip-level test already tested in a different clock and reset domain.

Start with hw/ip/lc_ctrl/dv/env/seq_lib/lc_ctrl_errors_vseq.sv to understand how the escalation input is currently driven, then inspect the escalation agent. Review hw/ip/lc_ctrl/dv/tb.sv around line 108 for the KMAC interface clock and reset. Done means the agent drives escalation and the KMAC interface has separate clock and reset signals.

Written by the indexing model from the issue text.