scripts: requirements: Update protobuf and grpcio-tools requirements

Minimal requirements for nanopb were not accurate
to allow its usage (and causing related tests to build fail).
This change updates requirements for protobuf (>=3.20.3) and
grpcio-tools (>=1.47.0) to use protocol buffer.

Fixes #56103

Signed-off-by: Katarzyna Giądła <katarzyna.giadla@nordicsemi.no>