Send/receive Voice Assistant audio via ESPHome native API (#114800)

* Protobuf audio test

* Remove extraneous code

* Rework voice assistant pipeline

* Move variables

* Fix reading flags

* Dont directly put to queue

* Bump aioesphomeapi to 24.0.0

* Update tests

- Add more tests for API pipeline
- Convert some udp tests to use api pipeline
- Update fixtures for new device info flags

* Fix bad merge

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Co-authored-by: Michael Hansen <mike@rhasspy.org>