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feat(auth): Add JWT authentication for heartbeat endpoints (#228)

* Add JWT-protected heartbeat endpoint with organization validation

* Fix JWT audience to match token-exchange service

* Fix JWT claims extraction for ESP v1 (GAE Flex)

* Use portable JWT parsing with go-jose library

* Update heartbeat client to use JWT authentication

* feat(auth): add JWT token refresh for heartbeat connections

Implements automatic JWT token renewal before expiry to handle GAE's
1-hour connection limits. Includes comprehensive test coverage.

* update comment

* feat(auth): update handler to read ESPv1's custom header

* add debug logging

* fix(auth): parse claims as a JSON string

* use base64.StdEncoding

* restore expiry parsing from JWT

* Make tests table-driven

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2112 of 2287 relevant lines covered (92.35%)

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