MN is authenticated by the same entity (HAAA) whether requested by
the FA or the HA. If HA and FA has some trust relationship (e.g.,
using FA-HA AE, or IPsec), then I believe letting the HA authenticate
the MN is sufficient.
There is no scalable way to maintain trust relationships between
all pairs of (FA, HA). One of the main purposes of the Diameter
MIPv4 application is to distribute keys for those (FA, HA)
relationships that are necessary based on the MNs that are
roaming to a given FA. The FA needs to make sure that the
visited resources will be paid for, which is why it needs
authorization from the AAA infrastructure.