feat: support ssz response for validators endpoint #6060
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Motivation
Description
Support SSZ response for validators endpoint. This is an initial step to systematically support returning ssz-encoded responses throughout all/most API endpoints (#5128).
This PR also gives good insights on what it required to support SSZ response for a single API, this is not acceptable and needs to be addressed if we want broader SSZ support with low maintenance cost and an easy way to add new APIs.