fix(audit)!: remove fallback to publish registries

[paul-soporan]

What's the problem this PR addresses?

4.x TODO item: removing the fallback to the publish registries inside yarn npm audit.

See #3583 (comment) for the original discussion.

How did you fix it?

Removed the fallback and removed the manifest parameter of npmConfigUtils.getAuditRegistry since it isn't needed (consistent with npmConfigUtils.getDefaultRegistry).

Checklist

• I have read the Contributing Guide.

• I have set the packages that need to be released for my changes to be effective.

• I will check that all automated PR checks pass before the PR gets reviewed.