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[routing-manager] use FavoredOmrPrefix::IsInfrastructureDerived() in PdPrefixManager (#11239)
This commit updates `PdPrefixManager::Evaluate()` to directly use the helper method `FavoredOmrPrefix::IsInfrastructureDerived()` when deciding to pause and change to `kDhcp6PdStateIdle`. This helps improve code readability.
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