Add HW multisig support - Closes #3954

[reyraa]

What was the problem?

This PR resolves #3954

How was it solved?

• Moved the signature functions to tx utilities.
• Use the above utilities to sign multisig txs A. when creating, B. when signing txs of the group.
• Add second signature if the registrant is a member too.
• Normalize the parameters and clean up the code.
• Adapt and increase unit tests.

Extra

• Fix validation in case members are all optional.
• Fix noop errors thrown because of repeated component key.
• Fix noop errors thrown because of unrecognized properties.

How was it tested?

• Fixed broken unit tests
• Tested manually

[ManuGowda]

@reyraa the signature bug will be fixed by LiskArchive/lisk-sdk#6968
however I made code changes to test

Registration: https://testnet.liskscan.com/transaction/7388aa826427778231be22cd9e1aa81683c4107c213710e960173445bcd8063b

Token transaction:
https://testnet.liskscan.com/transaction/d84b109140406b63531183808657f271ff7495263eecd3bd736d7db1fdc5134a

[ManuGowda]

Tested token transfer from HW multi-signature account: https://testnet.liskscan.com/transaction/7ab52e15b3702f9a49c72612767be5e3835c27910cb7690fc45d59ff6d756eb0

Tested multi signature account registration from HW multi-signature account: https://testnet.liskscan.com/transaction/76259d2129be57b32ddd58eec4e649abd691e2980e282ff54c2d629b32395f13