build(deps): Bump github.com/theupdateframework/go-tuf/v2 to v2.4.1

[gmlewis]

Closes: #3932.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.
✅ Project coverage is 94.04%. Comparing base (53e1abd) to head (0cc7ad2).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
example/verifyartifact/main.go	0.00%	3 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #4018   +/-   ##
=======================================
  Coverage   94.04%   94.04%           
=======================================
  Files         207      207           
  Lines       19174    19174           
=======================================
  Hits        18033    18033           
  Misses        939      939           
  Partials      202      202           

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