feat(docker): install minimum packages in `base` stage

[youtalk]

Description

This PR makes changes to minimize the number of packages installed with apt-get install at the base stage. https://github.com/autowarefoundation/autoware/pull/4738#issuecomment-2123673155 is why we need to minimize the image size as much as possible. Having a smaller image size is beneficial.

Tests performed

https://github.com/autowarefoundation/autoware/actions/runs/9185294602

Effects on system behavior

Not applicable.

Interface changes

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