chore: remove deprecated /connect/authenticate route (#207)

## Change Summary

Remove deprecated `/connect/authenticate` relay route.

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apps/relay/src/server.ts

@@ -74,10 +74,6 @@ export class RelayServer {
             }
           });
 
-          protectedRoutes.post<{
-            Body: AuthenticateRequest;
-          }>("/connect/authenticate", { schema: { body: authenticateRequestSchema } }, authenticate);
-
           protectedRoutes.post<{
             Body: AuthenticateRequest;
           }>("/channel/authenticate", { schema: { body: authenticateRequestSchema } }, authenticate);