Add TwoQubitControlledUDecomposer to the UnitarySynthesis tranpiler pass

[ShellyGarion]

What should we add?

Add the TwoQubitControlledUDecomposer to the UnitarySynthesis tranpiler pass.
This should be the default pass for certain gates (RXX, RYY, RZZ, CRZ, RZX, CRZ, CPhase) with an arbitrary angle.
This depends on PRs #13139 and #13141.

[yaelbh]

@ShellyGarion Can the decomposition result in rzz angle outside of the range [0, pi/2]?
If yes then I suggest to wait until Qiskit/qiskit-ibm-runtime#2043 is merged, to avoid failures of transpiled circuits when executed on IBM devices.

[ShellyGarion]

@ShellyGarion Can the decomposition result in rzz angle outside of the range [0, 2pi]? If yes then I suggest to wait until Qiskit/qiskit-ibm-runtime#2043 is merged, to avoid failures of transpiled circuits when executed on IBM devices.

The synthesis method should provide RZZGates with angles in the range [-pi/2, pi/2]