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Add documentation for Runner Registration API

What does this MR do?

Add documentation for Runner Registration API

Are there points in the code the reviewer needs to double check?

Should this API be advertised? This seems like it could be useful for automated installation of runners

Why was this MR needed?

Please see #42067 (closed)

Screenshots (if relevant)

Does this MR meet the acceptance criteria?

What are the relevant issue numbers?

Closes #42067 (closed)

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