Make required fields required

[rhamzeh]

This includes:

• In WriteAuthorizationModelRequest, schema_version should be required
• In ReadAuthorizationModelRequest, id should be required
• In TupleKey all are required
• All responses

These currently cause a lot of DX problems in the SDKs, as the generated types show that the fields are optional.

E.g. In the typescript SDK, users have to check for nullability on responses even if we know it will never be null, and they mistakenly think that some fields are optional in requests even when they are.

In the Go SDK, we have to make the fields accept pointer instead of values because of this when it is unnecessary