[test] fix socat version to 1.7.4.4 (#11243)

This commit changes the installation of socat from using 'apt' to
manual installation.

We found the latest socat version 1.8.0.3 has an issue when running
with OTBR docker. To avoid the error caused by version and facilitate
local development, the commit provides a script to install socat of
version 1.7.4.4 and replaces the installation in CI and scripts..

We add the install script in openthread and ot-br-posix will use the
script in openthread to install socat.

.github/workflows/otbr.yml

@@ -73,7 +73,8 @@ jobs:
     - name: Bootstrap
       run: |
         sudo rm /etc/apt/sources.list.d/* && sudo apt-get update
-        sudo apt-get --no-install-recommends install -y python3-setuptools python3-wheel ninja-build socat lcov
+        sudo apt-get --no-install-recommends install -y python3-setuptools python3-wheel ninja-build lcov
+        sudo bash script/install_socat
         python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
     - name: Build
       run: |
@@ -195,7 +196,8 @@ jobs:
     - name: Bootstrap
       run: |
         sudo rm /etc/apt/sources.list.d/* && sudo apt-get update
-        sudo apt-get --no-install-recommends install -y python3-setuptools python3-wheel ninja-build socat lcov
+        sudo apt-get --no-install-recommends install -y python3-setuptools python3-wheel ninja-build lcov
+        sudo bash script/install_socat
         python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
     - name: Build
       run: |

.github/workflows/posix.yml

@@ -63,7 +63,8 @@ jobs:
         cache: pip
     - name: Bootstrap
       run: |
-        sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
+        sudo apt-get --no-install-recommends install -y expect ninja-build lcov
+        sudo bash script/install_socat
         pip install bleak 'cryptography==43.0.0'
     - name: Run RCP Mode
       run: |
@@ -98,7 +99,8 @@ jobs:
       run: |
         sudo apt-get update
         echo 0 | sudo tee /proc/sys/net/ipv6/conf/all/disable_ipv6
-        sudo apt-get install --no-install-recommends -y bind9-host ntp socat
+        sudo apt-get install --no-install-recommends -y bind9-host ntp
+        sudo bash script/install_socat
         sudo systemctl restart ntp
         sudo socat 'UDP6-LISTEN:53,fork,reuseaddr,bind=[::1]' UDP:127.0.0.53:53 &
         socat 'TCP6-LISTEN:2000,fork,reuseaddr' TCP:127.0.0.53:53 &
@@ -198,7 +200,8 @@ jobs:
     - name: Bootstrap
       run: |
         sudo apt-get update
-        sudo apt-get --no-install-recommends install -y socat expect lcov libreadline-dev net-tools ninja-build
+        sudo apt-get --no-install-recommends install -y expect lcov libreadline-dev net-tools ninja-build
+        sudo bash script/install_socat
         cd /tmp
         wget https://github.com/obgm/libcoap/archive/bsd-licensed.tar.gz
         tar xvf bsd-licensed.tar.gz
@@ -258,7 +261,8 @@ jobs:
         rm -f /usr/local/bin/python3-config
         rm -f /usr/local/bin/python3.11-config
         brew update
-        brew install ninja socat
+        brew install ninja
+        sudo bash script/install_socat
     - name: Build
       run: |
         script/check-posix-pty build
@@ -279,7 +283,8 @@ jobs:
       env:
         GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
       run: |
-        sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
+        sudo apt-get --no-install-recommends install -y expect ninja-build lcov
+        sudo bash script/install_socat
         sudo python3 -m pip install git+https://github.com/openthread/pyspinel
     - name: Build
       run: |

.github/workflows/simulation-1.1.yml

@@ -266,7 +266,8 @@ jobs:
         cache: pip
     - name: Bootstrap
       run: |
-        sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
+        sudo apt-get --no-install-recommends install -y expect ninja-build lcov
+        sudo bash script/install_socat
         pip install bleak 'cryptography==43.0.0'
     - name: Run
       run: |

.github/workflows/simulation-1.4.yml

@@ -317,7 +317,8 @@ jobs:
         cache: pip
     - name: Bootstrap
       run: |
-        sudo apt-get --no-install-recommends install -y expect ninja-build lcov socat
+        sudo apt-get --no-install-recommends install -y expect ninja-build lcov
+        sudo bash script/install_socat
         pip install bleak 'cryptography==43.0.0'
     - name: Run RCP Mode
       run: |