[XFRM]: Optimize MTU calculation

Replace the probing based MTU estimation, which usually takes 2-3 iterations
to find a fitting value and may underestimate the MTU, by an exact calculation.

Also fix underestimation of the XFRM trailer_len, which causes unnecessary
reallocations.

Signed-off-by: Patrick McHardy <kaber@trash.net>
Signed-off-by: David S. Miller <davem@davemloft.net>