DAC: Replace `version_rpc_arg` with `dac v0_api_prefix`

Context

Part of #5437 (closed), follows !8678 (merged). It replaces dynamic version_rpc_arg with v0_api_prefix.

The motivation here is that if we register the endpoint with version_rpc_arg, we register it to all major API versions automatically. Unfortunately, this pattern does not allow us to filter invalid versions at the registration time. The only way to do this is to throw 404 or 500 from the corresponding handler of the endpoint. An antipattern that we would like to remove.

Closes #5635 (closed)

See !8762 (merged) for the follow-up, which introduces V1 API, with the single "GET v1/preimage" endpoint for the start.

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Checklist

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