Keep steering-limit feedback current during Always On Lateral

[Intelli]

Description

Always On Lateral can steer while normal engagement is inactive. In Dom, steering-limit feedback only updates during normal engagement, so it can miss new limits or retain an old result. We now update it whenever lateral control is active and clear it when lateral control stops. This keeps steering-limit detection and controller integrator handling supplied with current feedback during lateral-only driving.

We needed this in our EV9 branch because we use steering without cruise engaged, and our steering-limit warnings depend on that feedback. The fix applies across vehicles and preserves existing steering limits and tuning.

The test-file addition reuses the existing publish harness to check angle and torque feedback during lateral-only driving and stop/restart transitions. The previous tests keep normal engagement and lateral control active together, so they do not cover this issue.

Verification

• All 55 focused tests passed: 53 existing cases and two new cases.
• On unmodified Dom, the nine existing publish tests pass, but both new cases fail because AOL steering-limit feedback is missing.
• Python compilation, Ruff, and git diff --check passed.
• Steering-feedback changes device-tested on EV9.