Remove the duplicated headers from autoware_planning_task_manager

[xmfcx]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description & Purpose

Background:

• feat(autoware_planning_test_manager): porting autoware_planning_test_manager package from autoware.universe #203 (comment)
• feat(autoware_vehicle_info_utils): porting from universe to core #170 (comment)

These headers were kept for backwards compatibility.

We should remove them over time.

Definition of done

• To be determined.