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cam: prefer cam_sim_softc() over accessing cam_sim structure directly.

Description

cam: prefer cam_sim_softc() over accessing cam_sim structure directly.

Use the accessor function to get the softc for this sim. This also drops
an unneeded cast.

Sponsored by: Netflix
Reviewed by: mav@, hselasky@
Differential Revision: https://reviews.freebsd.org/D30360