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docs: add authentication section to USER_GUIDE; wire credential/auth_endpoint through setup()

Adds a new Section 3 (Authentication) covering CHIME token_introspection
flow, the auth_endpoint/credential parameters, and token lifetime behaviour.

Also fixes setup() to forward credential and auth_endpoint to the
instrument class constructor.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

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