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Remove legacy relay routes (#1516)

Removes legacy relay routes:

- Remove `RelayLegacyDtoSchema`, inferred type and tests
- Remove `RelayDtoSchema['version']` fallback value
- Remove `RelayLegacyController` and tests
  - `POST` `relay`
  - `GET` `relay/:chainId/:safeAddress`
- Update `RelayController` tests

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