Backport of Docs: change connect to SM for mTLS page into stable-website

[hc-github-team-consul-core]

Backport

This PR is auto-generated from #16082 to be assessed for backporting due to the inclusion of the label type/docs-cherrypick.

WARNING automatic cherry-pick of commits failed. Commits will require human attention.

merge conflict error: POST https://api.github.com/repos/hashicorp/consul/merges: 409 Merge conflict []

The below text is copied from the body of the original PR.

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Description

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Testing & Reproduction steps

• In the case of bugs, describe how to replicate
• If any manual tests were done, document the steps and the conditions to replicate
• Call out any important/ relevant unit tests, e2e tests or integration tests you have added or are adding

Links

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PR Checklist

• [ ] updated test coverage
• [ ] external facing docs updated
• [ ] not a security concern

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Overview of commits

• 5737b551367c9bb21356dba679bf7bfdde9e5586

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