impl(auth): verifier should accept multiple audiences

[alvarowolfx]

Towards #3449 #3516

[codecov]

Codecov Report

❌ Patch coverage is 80.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 96.13%. Comparing base (f10338b) to head (a2c9874).
⚠️ Report is 10 commits behind head on main.

Files with missing lines	Patch %	Lines
src/auth/src/credentials/idtoken/verifier.rs	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3799      +/-   ##
==========================================
- Coverage   96.16%   96.13%   -0.04%     
==========================================
  Files         146      146              
  Lines        5652     5659       +7     
==========================================
+ Hits         5435     5440       +5     
- Misses        217      219       +2     

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