Refactor subjects to always have namespaces

[zepatrik]

Preflight checklist

• I could not find a solution in the existing issues, docs, nor discussions.
• I agree to follow this project's Code of Conduct.
• I have read and am following this repository's Contribution Guidelines.
• This issue affects my Ory Network project.
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Describe your problem

We currently distinguish subject IDs and subject sets. This is confusing on the API side for consumers, and annoying in the code.

Describe your ideal solution

Subjects and objects should actually be treated the same way, requiring a namespace and ID. For subjects there should just be the optional relation available, making the tuple a "subject set tuple".

Workarounds or alternatives

Keep as is or drop subject sets completely. With OPL the use-cases for subject sets are quite reduced, so it might be a valid option.

Version

v0

Additional Context

No response

[hperl]

@zepatrik, WDYT, should we also put this behaviour behind the experimental_strict_mode flag?

[github-actions]

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