Backport of Docs: change connect to SM for mTLS page into release/1.13.x

[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 backport/1.13.

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

merge conflict error: unable to process merge commit: "a06e68b8c688095e5d6ade5dd8f2607a08d82729", automatic backport requires rebase workflow

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

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Description

Describe why you're making this change, in plain English.

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

• fa27ddb1d60b1f85639572027329aef3fbafc6ea - bf5a4ed6e31455ccaaf5654548017f35a9377997 - a06e68b8c688095e5d6ade5dd8f2607a08d82729 - e9146d11c93e1d5218637c9cd7cf945de3d7c01b - 77f14a0d98bd0988127ed01314350ecb6e535ac6