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testserver: Block dialing until connection is up

Patrick Steinhardt requested to merge pks-testserver-block-until-healthy into master

When waiting for spawned servers to become healthy, we use a context timeout and then first DialContext() and second invoke its health service. DialContext() will return immediately though without waiting for the connection to come up if it's not executed via WithBlock(). While this isn't much of a problem given that we use WaitForReady() in the call to the health service, this moves errors caused by a failure to establish the connection from dialing to invoking the RPC call. As a consequence, errors can be misleading and we may have less information available.

Improve this by using a blocking dial.

I'll mark this MR as closing #3835 (closed). While that's likely not the case, we'd at least get more information. And if we do have more information, then we can reopen with additional details.

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