remove a bunch of ENABLE_SK #ifdefs

The ssh-sk-helper client API gives us a nice place to disable
security key support when it is wasn't enabled at compile time,
so we don't need to check everywere.

Also, verification of security key signatures can remain enabled
all the time - it has no additional dependencies. So sshd can
accept security key pubkeys in authorized_keys, etc regardless of
the host's support for dlopen, etc.

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