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[traits] Kem traits errors should be associated types #1535

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@robinhundt

ML-KEM encapsulation is infallible, but the Kem trait always returns an EncapsError (the same probably also holds for other methods/algorithms).

If the errors were associated types, the ML-KEM implementation could specify that they're infallible and the error case wouldn't need to be handled by callers.

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