Reintroduce the ability to run Gaia Lite in "insecure" mode

[alexanderbez]

Summary

Once the following have been addressed and introduced downstream to the SDK:

• Start{GRPC,HTTP{,AndTLSServer}}Server would benefit from a concurrency-friendly design tendermint/tendermint#2463
• Pass http.ServeTLS() errors back to the caller tendermint/tendermint#2461

The SDK should reintroduce the ability to run Gaia Lite in insecure mode (i.e. undo #2716)

/cc @alessio @faboweb

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[alessio]

@faboweb I believe this is fixed. Can you confirm please?

[alessio]

@faboweb AFAIK this is fixed, please reopen if not so.