p2p/discover: add initial discovery v5 implementation (#20750)

This adds an implementation of the current discovery v5 spec.

There is full integration with cmd/devp2p and enode.Iterator in this
version. In theory we could enable the new protocol as a replacement of
discovery v4 at any time. In practice, there will likely be a few more
changes to the spec and implementation before this can happen.

cmd/devp2p/main.go

@@ -59,6 +59,7 @@ func init() {
 	app.Commands = []cli.Command{
 		enrdumpCommand,
 		discv4Command,
+		discv5Command,
 		dnsCommand,
 		nodesetCommand,
 	}