feat(intersection): reduce calculation and improve pass judge

[soblin]

Description

計算時間の改善

• fix(intersection): reduce path lanelet points autowarefoundation/autoware.universe#5507
• fix(intersection): fix wrong resample process autowarefoundation/autoware.universe#5516

pass_judge（ある程度交差点に入ったらそのまま進む位置）の改善

• feat(intersection): use the centerline position of first attention area if there is no traffic light autowarefoundation/autoware.universe#5547

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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