arm64: remove the now unneeded relocate_initrd()

This removes the relocate_initrd() implementation and invocation, which are
no longer needed now that the placement of the initrd is guaranteed to be
covered by the linear mapping.

Signed-off-by: Ard Biesheuvel <ard.biesheuvel@linaro.org>
Signed-off-by: Will Deacon <will.deacon@arm.com>