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[ip6] simplify
Ip6::InsertMplOption()
(openthread#10814)
This commit refactors the `InsertMplOption()` method for improved efficiency and readability. Cascading `if`/`else` blocks have been eliminated by handling the simpler `IsMulticastLargerThanRealmLocal()` case first. Redundant checks for multicast destination and scope have been removed, as these conditions are already covered by `IsRealmLocalMulticast()` and `IsMulticastLargerThanRealmLocal()`.
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