Implement endpoint env var and TLS support

[mikeee]

Describe the feature/proposal

https://github.com/dapr/proposals/blob/main/20230627-S-sidecar-endpoint-tls.md
Implement the above proposal

Release Note

RELEASE NOTE: ADD Dapr endpoint env var and TLS support.

[github-actions]

This issue has been automatically marked as stale because it has not had activity in the last 60 days. It will be closed in the next 7 days unless it is tagged (pinned, good first issue, help wanted) or other activity occurs. Thank you for your contributions.

[github-actions]

This issue has been automatically closed because it has not had activity in the last 67 days. If this issue is still valid, please ping a maintainer and ask them to label it as pinned, good first issue or help wanted. Thank you for your contributions.