[22849] Refactor builtin endpoints creation

[EugenioCollado]

Description

Refactor of the creation of the PDP and EDP builtin endpoints in order to have a common method to create builtin endpoints.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• N/A Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A Any new/modified methods have been properly documented using Doxygen.
• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• N/A Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• Changes are API compatible.
• N/A New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• N/A Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[MiguelCompany]

Closing since changes are included in #5680.
We will manually backport this one to 3.1.x