Implement gRPC bidirectional communication between bor and heimdall #4454

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Job	Run time
integration-tests (ubuntu-20.04)	9m 1s
e2e-tests (ubuntu-20.04)	10m 57s
lint (ubuntu-20.04)	4m 9s
build (ubuntu-20.04)	2m 36s
unit-tests (ubuntu-20.04)	9m 1s
codecov	1s
	35m 45s