fix: always verify nonce, extract nonce from VP

[TimoGlastra]

This PR makes a few improvements to the nonce extraction and verification process:

• correctly extract nonce from SD-JWT, W3C JSON-LD or W3C JWT presentation. (I'll make a small follow up pr to clean up the SD-JWT nonce a bit once feat: add kb-jwt to sd-jwt SSI-SDK#183 is merged and released)
• Fix the extraction of nonce values from set using array index (always returns undefined)
• Make sure all presentations and id token and auth response use the same nonce
• make sure nonce is always defined
• check nonce against verifyOpts if provided

[nklomp]

LGTM