Fix k2 and torchaudio installation (Docker, macOS)
# What does this PR do?

- add build arguments `REQUIRE_TORCHAUDIO` and `REQUIRE_K2` for `torchaudio` and `k2` in Dockerfile
  - `false` (by default): library will be installed if possible, errors ignored
  - `true`: if library not installed correctly, end build with error
- fix `k2` installation script on macOS
- fix `k2` installation in Docker (`k2` depends on `torchaudio`)
- fix `torchaudio` installation for latest PyTorch versions
- also fixes bug https://nvbugswb.nvidia.com/NvBugs5/SWBug.aspx?bugid=3940510&cmtNo= (`apt update && apt install -y libavdevice-dev` should be also used before executing install script)

NB: This PR doesn't fix `k2` + `Cuda 12.0` compilation errors.

**Collection**: [CI]

# Changelog 
- `k2` installation script is compatible with macOS
- `k2` installation script fails if error occurred during installation
- `Dockerfile`: add build arguments (see description above)
- `torchaudio` installation script - fixes for latest PyTorch versions (ffmpeg, match release branch, correct version)


# Usage
```shell
# build container, ignore k2/torchaudio installation error
docker build --tag "nemo:latest" .

# ignore k2 installation error, fail on torchaudio installation error
docker build --tag "nemo:latest" --build-arg REQUIRE_TORCHAUDIO=true --build-arg REQUIRE_K2=false .
```

# Before your PR is "Ready for review"
**Pre checks**:
- [x] Make sure you read and followed [Contributor guidelines](https://github.com/NVIDIA/NeMo/blob/main/CONTRIBUTING.md)
- [ ] Did you write any new necessary tests?
- [ ] Did you add or update any necessary documentation?
- [x] Does the PR affect components that are optional to install? (Ex: Numba, Pynini, Apex etc)
  - [ ] Reviewer: Does the PR have correct import guards for all optional libraries?
  
**PR Type**:
- [ ] New Feature
- [x] Bugfix
- [ ] Documentation

If you haven't finished some of the above items you can still open "Draft" PR.


## Who can review?

Anyone in the community is free to review the PR once the checks have passed. 
[Contributor guidelines](https://github.com/NVIDIA/NeMo/blob/main/CONTRIBUTING.md) contains specific people who can review PRs to various areas.

# Additional Information
* Related to # (issue)
