feat(SipClient): add sync mode to create and methods for updating trunks and rules

[MichaelSolati]

Add:

1. SIPClient.createSipParticipant (sync mode)
2. Add methods for UpdateSIPInboundTrunk
3. Add methods for UpdateSIPOutboundTrunk
4. Add methods for UpdateSIPDispatchRule

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Latest commit: 1ee854e

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[MichaelSolati]

@davidzhao I think this brings over all the SIP client updates from livekit/python-sdks#403 to NodeJS

If this looks good I'll just need some guidance on doing a changeset.