feat(server): start grpc server and register services when starting in standalone mode (v0.47)

[p-offtermatt]

Description

Closes: #16277

Backport of https://github.com/cosmos/cosmos-sdk/pull/18110/files for v0.47

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[julienrbrt]

Could you fix linting: https://github.com/cosmos/cosmos-sdk/actions/runs/6530304053/job/17729353911?pr=18109