deps: bump ics23 v0.10.0 (backport #3457)

[mergify]

This is an automatic backport of pull request #3457 done by Mergify.
Cherry-pick of 0a15a03 has failed:

On branch mergify/bp/release/v7.1.x/pr-3457
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	deleted by us:   e2e/go.mod
	deleted by us:   e2e/go.sum
	both modified:   go.mod
	both modified:   go.sum
	deleted by us:   modules/capability/go.mod
	deleted by us:   modules/capability/go.sum

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[chatton]

I think we can remove the e2e dir here too, I can make the changes if you'd prefer @crodriguezvega !

[colin-axner]

ACK, we should run compatibility tests for this change