perf(mission_planner): remove queries on all road and shoulder lanelets

[maxime-clem]

Description

No longer query ALL road and shoulder lanelets in the mission_planner.

There was an issue in the previous PR #7024 with the RoutingGraph used by the mission planner. When checking if a goal fits inside the lane, we need to retrieve the lanelets following the closest lanelet to the goal. For some reason there were cases where, for the same input lanelet, the RoutingGraph::following(lanelet) function would return different value and some valid goal would become invalid.
I refactored the mission planner to not directly use the routing graph, but instead use the route_handler to achieve the same operation. This fixed the issue (see the evaluation results) but I still do not understand the original problem.

Tests performed

Psim.
Evaluator (TIER IV INTERNAL LINK): https://evaluation.tier4.jp/evaluation/reports/c27675c8-314b-515d-b469-75eea198c448?project_id=prd_jt

Effects on system behavior

Not applicable.

Interface changes

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