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Draft: Cleanup Duo gRPC connection juggling

What does this MR do and why?

  1. Replace the mutex with sending from a single goroutine.
  2. Handle WebSocket close frames and close the outbound gRPC connection cleanly in that case.
  3. Abort the outbound gRPC connection when an error is encountered by canceling the context of the work group.
  4. TODO abort the inbound WebSocket connection when an error is encountered by returning from the handler.

References

Relates to Duo Agent: Can we remove thread safe locking of... (#568969).

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