Add deprecations to old methods not using Structs (backport #2344)

[mergify]

This PR adds deprecations to the old methods

---

This is an automatic backport of pull request #2344 done by Mergify.

[mergify]

Cherry-pick of abbf8d6 has failed:

On branch mergify/bp/jazzy/pr-2344
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Changes to be committed:
	modified:   hardware_interface/include/hardware_interface/actuator.hpp
	modified:   hardware_interface/include/hardware_interface/sensor.hpp
	modified:   hardware_interface/include/hardware_interface/system.hpp
	modified:   hardware_interface/include/mock_components/generic_system.hpp
	modified:   hardware_interface/src/actuator.cpp
	modified:   hardware_interface/src/mock_components/generic_system.cpp
	modified:   hardware_interface/src/sensor.cpp
	modified:   hardware_interface/src/system.cpp
	modified:   hardware_interface/test/test_component_interfaces.cpp
	modified:   hardware_interface/test/test_component_interfaces_custom_export.cpp
	modified:   hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp
	modified:   hardware_interface/test/test_hardware_components/test_imu_sensor.cpp
	modified:   hardware_interface/test/test_hardware_components/test_single_joint_actuator.cpp
	modified:   hardware_interface/test/test_hardware_components/test_system_with_command_modes.cpp
	modified:   hardware_interface/test/test_hardware_components/test_two_joint_system.cpp
	modified:   hardware_interface_testing/test/test_components/test_actuator.cpp
	modified:   hardware_interface_testing/test/test_components/test_actuator_exclusive_interfaces.cpp
	modified:   hardware_interface_testing/test/test_components/test_sensor.cpp
	modified:   hardware_interface_testing/test/test_components/test_system.cpp
	modified:   hardware_interface_testing/test/test_resource_manager.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   hardware_interface/include/hardware_interface/actuator_interface.hpp
	both modified:   hardware_interface/include/hardware_interface/resource_manager.hpp
	both modified:   hardware_interface/include/hardware_interface/sensor_interface.hpp
	both modified:   hardware_interface/include/hardware_interface/system_interface.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally