Use SetComponentData to simplify code and improve coverage

[scpeters]

🦟 Bug fix

Split out from #2228

Summary

There are several places in our code that can be simplified by using EntityComponentManager::SetComponentData to create a component for the specified entity if the component doesn't already exist. I initially made these improvements in #2228 but am splitting them out here and back porting to harmonic. There should be no behavior changes from this PR, just more concise code.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[scpeters]

ABI checker passed though it didn't update the github status:

• https://build.osrfoundation.org/job/gz_sim-abichecker-any_to_any-ubuntu-jammy-amd64/197/

[scpeters]

I believe the test failures are unrelated to the systems modified here, merging