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This commit introduces a set of public APIs to allow manipulation of `otSteeringData`. The new APIs are provided when the configuration `OPENTHREAD_CONFIG_MESHCOP_STEERING_DATA_API_ENABLE` is enabled. The internal `SteeringData` is also improved to enhance robustness. Methods such as `Init()`, `UpdateBloomFilter()` now return an `Error` to signal failures on invalid arguments (e.g., invalid length) instead of asserting.