Refactor docker compose to remove duplication

Refactor docker compose to remove duplication

There are many duplicate service definitions across the
compose files, mainly due to having separate configs for
with and without replicas. Instead, replica count can be
set to 1 by default, and the same config used.

Changes:
- Use deploy.replicas with default of 1 for ACM services
- Remove compose.acm.scale.yml and compose.pdp.scale.yml
- Consolidate participant sim configs using YAML anchors
- Standardize service names with policy-* prefix
- Remove legacy scaling scripts and nginx configurations
- Delete broken apex-pdp-medium and -large tests.
- Fix intermittent issue in apex-pdp tests using sleep 5s

Issue-ID: POLICY-5534
Change-Id: I45546099690ba24c224bd7006c2422a151d266e2
Signed-off-by: danielhanrahan <daniel.hanrahan@est.tech>