Fixes for wrong namespace handling in some RBAC and missing dnsNames for TLS
### Motivation
Fixes old unused handling of namespace name in RBAC for autorecovery and bookkeeper.
Fixes Helm exception of missing key when not defining TLS dnsNames
### Modifications
Use namespace template in RBAC definitions for bookkeeper and autorecovery. Add if around every `toYaml .Values.tls.bookie.dnsNames` clause in TLS certs definitions.
### Verifying this change
- [x] Make sure that the change passes the CI checks.
Add PSP and add/modify RBAC. I'm open for all discussion.
### Motivation
On clusters which use PSP and restrictive default policy pulsar cannot be installed, because it uses root user and requires writable container root directory. Additionally default RBAC for broker are too permissive (usage of ClusterRoleBinding) in my opinion.
### Modifications
Add PSP and RBAC for bookkeeper and autorecovery to add
exception to allow startup even in secure environment
where containers cannot access RW on root by default.
Add option for limiting broker ClusterRoleBinding
to single namespace by replacing to RoleBinding
### Verifying this change
- [x] Make sure that the change passes the CI checks.
