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.

cmd/beacon-chain/main.go

@@ -131,6 +131,7 @@ var appFlags = []cli.Flag{
 	debug.MutexProfileFractionFlag,
 	cmd.LogFileName,
 	cmd.EnableUPnPFlag,
+	cmd.EnableAutoNATFlag,
 	cmd.ConfigFileFlag,
 	cmd.ChainConfigFileFlag,
 	cmd.GrpcMaxCallRecvMsgSizeFlag,

cmd/beacon-chain/usage.go

@@ -82,6 +82,7 @@ var appHelpFlagGroups = []flagGroup{
 		Flags: []cli.Flag{
 			cmd.BootstrapNode,
 			cmd.EnableUPnPFlag,
+			cmd.EnableAutoNATFlag,
 			cmd.NoDiscovery,
 			cmd.P2PAllowList,
 			cmd.P2PDenyList,