feat: modules support

[alienvspredator]

What this PR does / why we need it:

Add modules support to the session manager, define and implement standard `trust` and `database` modules.

Special notes for your reviewer:

The modules are statically linked at built-time.
Custom-built session manager with other modules can be built by altering imports in the main.go file. The main() body remains unchanged (makes a call to maincmd.Main()).

Release note:

- Support statically linked modules at build time.
- Implement `trust` module with OIDC.
- Implement `database` module with pgxpool.

feat: module extensions

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[cb80]

We usually use viper for this, so do we really need koanf?
Especially as one of its deps github.com/mitchellh/copystructure is archived.

[alienvspredator]

We can't use viper for this use-case. Viper can't parse and store ambiguous values, as well as some issues with Viper:

• viper breaks JSON, YAML, TOML, HCL language specs by Add viper.SetKeysCaseSensitive() to disable automatic key lowercasing. spf13/viper#635.
• hardcoded parsers

So we can't really use Viper here.