rpk/chore: update required Go version to 1.23.1 and bump rpk deps

[r-vasquez]

Continuation of https://github.com/redpanda-data/redpanda/pull/20803

Vtools Go Bump: https://github.com/redpanda-data/vtools/pull/3114

Backports Required

• [ ] none - not a bug fix
• [ ] none - this is a backport
• [ ] none - issue does not exist in previous branches
• [ ] none - papercut/not impactful enough to backport
• [ ] v24.2.x
• [ ] v24.1.x
• [ ] v23.3.x

Release Notes

• none

[naomigrace]

any estimate on when this is getting merged in?