hal_*_(client|server) => hal(client|server)domain

Test: only a compile-time change (adds neverallow rules), so, did
     m -j sepolicy on the following targets:
  - marlin
  - sailfish
  - 2017 devices
Bug: 36162501
Change-Id: I1092aff40da9dcf09bd044400bedd1f549eb7e38