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Add audit middleware to vMCP server (#2981)

* Add audit middleware to vMCP server

Integrate the existing ToolHive audit middleware into the Virtual MCP
Server to enable audit logging of MCP operations for security,
compliance, and debugging purposes.

Changes:
  - Add AuditConfig field to vMCP server Config struct
  - Add audit middleware initialization in Start() method
  - Position audit middleware in chain: Auth → Audit → Discovery → Telemetry
  - Use "streamable-http" transport type for vMCP audit events
  - Add unit tests for audit configuration handling

The audit middleware is optional (enabled when AuditConfig is provided)
and uses the existing pkg/audit infrastructure with MCP-specific event
types (mcp_tool_call, mcp_initialize, etc.).

Partially-closes: #2980

* changes from review

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Co-authored-by: taskbot <taskbot@users.noreply.github.com>

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