feat: implement ABCI Query via gRPC (backport #11642)

[mergify]

This is an automatic backport of pull request #11642 done by Mergify.
Cherry-pick of 3daa660 has failed:

On branch mergify/bp/release/v0.46.x/pr-11642
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Changes to be committed:
	modified:   api/cosmos/base/tendermint/v1beta1/query.pulsar.go
	modified:   api/cosmos/base/tendermint/v1beta1/query_grpc.pb.go
	modified:   baseapp/abci.go
	modified:   baseapp/grpcrouter.go
	modified:   client/grpc/tmservice/query.pb.go
	modified:   client/grpc/tmservice/query.pb.gw.go
	modified:   client/grpc/tmservice/service.go
	modified:   client/grpc/tmservice/service_test.go
	new file:   client/grpc/tmservice/types.go
	modified:   proto/cosmos/base/tendermint/v1beta1/query.proto
	modified:   simapp/app.go

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CHANGELOG.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[tac0turtle]

should we backport to 0.45?