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config: support arbitrary nested config structs (#4440)

Update bindEnvs() to add support for binding nested fields of the
Options struct to environment variables. The variable names are formed
by joining the nested fields' mapstructure tags with underscores (after
first converting to uppercase).

This is in preparation for adding a new nested struct for downstream
mTLS settings that will look something like this:

  downstream_mtls:
    ca_file: /path/to/CA/cert.pem
    enforcement: reject_connection

With this change, these fields would be bound to the variables
DOWNSTREAM_MTLS_CA_FILE and DOWNSTREAM_MTLS_ENFORCEMENT.

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