Implement gRPC bidirectional communication between bor and heimdall #4457

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Job	Run time
unit-tests (ubuntu-20.04)	17m 39s
lint (ubuntu-20.04)	3m 17s
build (ubuntu-20.04)	1m 47s
e2e-tests (ubuntu-20.04)	19m 0s
integration-tests (ubuntu-20.04)	9m 42s
codecov (ubuntu-20.04)	11s
	51m 36s