Enforce authentication if encryption is required

Original bug
Bug: 294854926

regressions:
Bug: 299570702
Bug: 299561281

Test: m com.android.btservices
Test: QA validation
Ignore-AOSP-First: security

Merged-In: I0370ed2e3166d56f708e1981c2126526e1db9eaa
Change-Id: I0370ed2e3166d56f708e1981c2126526e1db9eaa