Update dependencies

[aschmahmann]

Update dependencies

Description

• Updates the base dependencies across patch and minor version changes (including a rename of go-jose which was moved to a different package name)
• Updates go-jose to v4
• Updates the rapid package and the associated tests to v1

The motivation is that some of the underlying dependencies are very out of date notably including go-jose which has been archived and is two major versions behind. If dropping the testing changes associated with updating rapid is desirable that's IMO totally acceptable.

I'd also appreciate if this package could be tagged after merging

How Has This Been Tested?

So far only unit tests in this repo. I'm happy to test by bubbling up to kubo as well, but I suspect the test coverage here will handle most of the work.

Definition of Done

Before submitting this PR, please make sure:

• The work addresses the description and outcomes in the issue
• [ ] I have added relevant tests for new or updated functionality
• My code follows conventions, is well commented, and easy to understand
• My code builds and tests pass without any errors or warnings
• I have tagged the relevant reviewers
• [ ] I have updated the READMEs of affected packages
• [ ] I have made corresponding changes to the documentation
• The changes have been communicated to interested parties
  • This PR serves as the notification, if there's anything else I should do let me know

References:

Please list relevant documentation (e.g. tech specs, articles, related work etc.) relevant to this change, and note if the documentation has been updated.

• Probably most relevant is the go-jose release notes https://github.com/go-jose/go-jose/releases particularly for v4

[aschmahmann]

cc @smrz2001 @warpfork, but maybe someone else is better to review here

[smrz2001]