Reland "Enforce authentication if encryption is required"

While aosp/2863686 was rebased on internal security
fixes, aosp/2865187 was dropped, re-apply it.

Bug: 316244428
Test: m com.android.btservices
Flag: EXEMPT, tested/verfied on internal branches
Change-Id: I319dcfbc9bb9603c515ac0c2c647155211f95e26