Migrate User Defined Types to Canoto + Dynamic ABI

Migrate `Action`, `Auth`, and `Output` to use [Canoto](https://github.com/StephenButtolph/canoto/)

Once these are migrated, we can update the ABI and universal CLI to use Canoto instead of the existing AvalancheGo codec using the Canoto spec type (in place of the ABI derived from the AvalancheGo codec definition): https://github.com/ava-labs/hypersdk/tree/main/abi
