feat(baseapp): Add Hybrid Protobuf handlers to MsgServiceRouter (backport #18071)

[mergify]

This is an automatic backport of pull request #18071 done by Mergify.
Cherry-pick of 5edabb5 has failed:

On branch mergify/bp/release/v0.50.x/pr-18071
Your branch is up to date with 'origin/release/v0.50.x'.

You are currently cherry-picking commit 5edabb5cb.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   baseapp/msg_service_router_test.go
	modified:   server/mock/app.go

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   CHANGELOG.md
	both modified:   baseapp/grpcrouter.go
	both modified:   baseapp/grpcrouter_test.go
	deleted by us:   baseapp/internal/protocompat/protocompat.go
	both modified:   baseapp/msg_service_router.go

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[julienrbrt]

utACK