Update is_authorized_dag method in FabAuthManager

[vincbeck]

Resolves #53936.

Follow-up of #54197.

The way FabAuthManager checks for Dag permission is partially broken in multiple ways:

1. To check whether user is authorized to list Dags, we are calling get_authorized_dag_ids (which returns the list of Dags the user is authorized to access) and checking whether this list is not empty. Even though this is not strictly wrong, it is not good either. A more robust solution proposed by @pierrejeambrun (see thread here for more information about the solution but also the reason why it is better) is to check whether the user has either access to all Dags or at least one dag permission with RESOURCE_DAG_PREFIX
2. I remove RESOURCE_DAG_RUN_PREFIX because I think this is very wrong. The purpose of this constant (value is DAG Run:) is to be able to give access to Dag runs of specific Dags. Example: To give read access to user X of Dag runs of Dag test, I can add to the user's permissions (CAN_READ, DAG Run:test). But this is possible without this constant, using the same example, to grant the user access to Dag test runs, you can give them (CAN_READ, Dag:test) and (CAN_READ, RESOURCE_DAG_RUN).

---

^ Add meaningful description above
Read the Pull Request Guidelines for more information.
In case of fundamental code changes, an Airflow Improvement Proposal (AIP) is needed.
In case of a new dependency, check compliance with the ASF 3rd Party License Policy.
In case of backwards incompatible changes please leave a note in a newsfragment file, named {pr_number}.significant.rst or {issue_number}.significant.rst, in airflow-core/newsfragments.

[o-nikolas]

Not my area of expertise, but the code seems reasonable.

[vincbeck]

Please do not merge before @pierrejeambrun approval, I'd like to have it before merging :)

[pierrejeambrun]

Makes sense to me, thanks Vincent!

Just one question for my own understanding.