[20953] Support Type-Lookup Service with new new GUID-less Discovery Server

[cferreiragonz]

Description

This PR modifies the behavior of TypeLookup service to ensure compatibility with the Discovery Server. Participants now issue the TypeLookupRequest to the participant that sent them the Data (r|w), rather than to the participant containing the endpoint. This adjustment allows servers to respond to their clients, thereby keeping discovery traffic limited to servers. Additionally, it addresses minor changes to improve functionality with the Discovery Server.

• This PR is on top of [20629] GUIDLess Discovery Server #4716 and must be merged after it.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally: [20953] Support Type-Lookup Service with new new GUID-less Discovery Server Discovery-Server#78
• N/A Any new/modified methods have been properly documented using Doxygen.
• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• Changes are ABI compatible.
• Changes are API compatible.
• New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• N/A Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.