imp!: add encoding type as argument to ICA encoding/decoding functions

[colin-axner]

Description

This pulls API breaking changes from #3796 to merge in a separate pr. This will reduce review diffs (no logical changes made here) and reduce conflicts when backporting #3796 as the API breaking changes cannot be backported.

In addition, this change will be relevant for #3375

ref #3246

Commit Message / Changelog Entry

imp!: Add encoding type as argument to `SerializeCosmosTx` and `DeserializeCosmosTx`

see the guidelines for commit messages. (view raw markdown for examples)

---

Before we can merge this PR, please make sure that all the following items have been
checked off. If any of the checklist items are not applicable, please leave them but
write a little note why.

• Targeted PR against correct branch (see CONTRIBUTING.md).
• Linked to Github issue with discussion and accepted design OR link to spec that describes this work.
• Code follows the module structure standards and Go style guide.
• Wrote unit and integration tests.
• Updated relevant documentation (docs/) or specification (x/<module>/spec/).
• Added relevant godoc comments.
• Provide a commit message to be used for the changelog entry in the PR description for review.
• Re-reviewed Files changed in the Github PR explorer.
• Review Codecov Report in the comment section below once CI passes.

[damiannolan]

LGTM! 🚀

[codecov-commenter]

Codecov Report

Merging #3967 (aecb47e) into main (3559e58) will not change coverage.
The diff coverage is 100.00%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3967   +/-   ##
=======================================
  Coverage   78.84%   78.84%           
=======================================
  Files         187      187           
  Lines       12950    12950           
=======================================
  Hits        10211    10211           
  Misses       2311     2311           
  Partials      428      428           

Impacted Files	Coverage Δ
.../apps/27-interchain-accounts/host/keeper/keeper.go	87.39% <ø> (ø)
.../apps/27-interchain-accounts/host/client/cli/tx.go	29.70% <100.00%> (ø)
...s/apps/27-interchain-accounts/host/keeper/relay.go	71.08% <100.00%> (ø)
modules/apps/27-interchain-accounts/types/codec.go	79.54% <100.00%> (ø)