## Which problem is this PR solving?
- Resolves #6744 

## Description of the changes
### Issue:
- PR #6270 introduced a regression in Kafka TLS configuration. The
original code allowed TLS to be used with any authentication method
(plaintext, kerberos, tls) by checking `config.Authentication == tls ||
config.TLS.Enabled`. However, the pr changed this to only
`config.Authentication == tls`, breaking SASL_SSL configurations where
users need `authentication=plaintext` with `tls.enabled=true`.

- continuation of pr #6764
- fix some issues:
  - Fixed incorrect TLS detection logic:
  ```
  // CORRECT - Simple OTEL-compliant logic
  if config.Authentication == tls || !config.TLS.Insecure {
if err := setTLSConfiguration(&config.TLS, saramaConfig, logger); err !=
nil {
        return err
    }
  }
  ```
  - Fixed security vulnerability:
  ```
    // SECURE - Proper CA handling based on actual TLS usage
   if config.Authentication == tls {
      tlsCfg.Insecure = false
      tlsCfg.IncludeSystemCACertsPool = true
  } else if v.GetBool(configPrefix + ".tls.enabled") {
      tlsCfg.Insecure = false
      tlsCfg.IncludeSystemCACertsPool = true
  }
  ```
 ```
// Always load TLS configuration from viper (cleaner approach)
tlsClientConfig := tlscfg.ClientFlagsConfig{Prefix: configPrefix}
tlsCfg, err := tlsClientConfig.InitFromViper(v)
// Then configure based on usage
```

## Checklist
- [x] I have read https://github.com/jaegertracing/jaeger/blob/master/CONTRIBUTING_GUIDELINES.md
- [x] I have signed all commits
- [x] I have added unit tests for the new functionality
- [x] I have run lint and test steps successfully
  - for `jaeger`: `make lint test`
  - for `jaeger-ui`: `npm run lint` and `npm run test`

---------

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