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config: add support for TCP proxy chaining (#5053)

Add a distinction between TCP routes depending on whether the To URL(s)
have the scheme tcp://. For routes with a TCP upstream, configure Envoy
to terminate CONNECT requests and open a TCP tunnel to the upstream
service (this is the current behavior). For routes without a TCP
upstream, configure Envoy to proxy CONNECT requests to the upstream.

This new mode can allow an upstream proxy server to terminate a CONNECT
request and open its own TCP tunnel to the final destination server.
(Note that this will typically require setting the preserve_host_header
option as well.)

Note that this requires Envoy 1.30 or later.

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