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roachtest: teach cluster-init to reproduce startup crash
Teach the cluster-init test to reproduce the crash during bootup described in issue cockroachdb#25771. The trick is to send requests with a session cookie, as the admin UI would, while the cluster is waiting for init. Note that the crash was caused by the authenticationMux, which is used to protect secure clusters, but this test uses an insecure cluster. This is relying on a wart: an authenticationMux is installed for UI assets whether or not the cluster is secure. This could change in the future. A better test would use a secure cluster, however roachprod/roachtest do not easily support that at this time, nor is it easy to write a unit test that exercises the crash more robustly. Release note: None
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