Merge "Allow untrusted apps to access incidentcompanion" am: f650c54ee1 am: 5e310aa786 am: 9edd7274c4

Original change: https://android-review.googlesource.com/c/platform/system/sepolicy/+/1913754

Change-Id: I3fd2066ddd912a8b03c3bc2eb715e050c508837f