AuthWit standard improvements

[LHerskind]

Currently the usage of AuthWit is non-standard and somewhat unspecific towards messages. To make sure that it don't run into cross-chain replay attacks or replays between contracts etc, I think it would be prudent to expand it with similar ideas to those of eip712

### Tasks
- [ ] #2676
- [ ] #2448
- [ ] #2627
- [ ] #2710
- [ ] #3007
- [ ] https://github.com/AztecProtocol/aztec-packages/issues/5075
- [ ] #4821
- [ ] #4822
- [ ] https://github.com/AztecProtocol/aztec-packages/issues/5074

[LHerskind]

Addressing the missing authentication witness issues is overall a low priority as it is mainly an improvement to developer experience which can be tackled before mainnet, but does not need to be fixed before a testnet.

[LHerskind]

Moved #3745 to #5759 and closing down this issue for now.