feat: add support for detecting and logging per address reachability via libp2p AutoNAT v2 (#16100)

**What type of PR is this?**
Feature

**What does this PR do? Why is it needed?**

This PR adds support for detecting and logging per address reachability
via libp2p AutoNAT v2. See
https://github.com/libp2p/go-libp2p/releases/tag/v0.42.0 for details.
This PR also upgrades Prysm to libp2p v0.42.0

**Which issues(s) does this PR fix?**

Fixes #https://github.com/OffchainLabs/prysm/issues/16098

**Other notes for review**

**Acknowledgements**

- [x] I have read
[CONTRIBUTING.md](https://github.com/prysmaticlabs/prysm/blob/develop/CONTRIBUTING.md).
- [x] I have included a uniquely named [changelog fragment
file](https://github.com/prysmaticlabs/prysm/blob/develop/CONTRIBUTING.md#maintaining-changelogmd).
- [x] I have added a description to this PR with sufficient context for
reviewers to understand this PR.

beacon-chain/node/node.go

@@ -664,6 +664,7 @@ func (b *BeaconNode) registerP2P(cliCtx *cli.Context) error {
 		DenyListCIDR:          slice.SplitCommaSeparated(cliCtx.StringSlice(cmd.P2PDenyList.Name)),
 		IPColocationWhitelist: colocationWhitelist,
 		EnableUPnP:            cliCtx.Bool(cmd.EnableUPnPFlag.Name),
+		EnableAutoNAT:         cliCtx.Bool(cmd.EnableAutoNATFlag.Name),
 		StateNotifier:         b,
 		DB:                    b.db,
 		StateGen:              b.stateGen,