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Add the grape-on-rack app as a live-server memory profiling harness (#3008)

Memory-profiling Grape under a real web server meant a separate
grape-on-rack checkout whose Gemfile pointed at a local Grape path.
benchmark/grape_on_rack brings that app here, with its own Gemfile
resolving `grape` from the repository root, so a profile always runs
against the working tree:

    ruby-memory-profiler --pretty --out=latest_cache.txt \
      --allow-files=grape/lib run -- bundle exec rackup --env none

while profile_api_calls.rb drives every mounted API from a thread pool.

The APIs and the Rack wrapper are carried over as they are. The boot
files are folded into config.ru, which compiles the API before serving.
The specs, the Swagger UI assets, New Relic and the tooling config are
left out, as none of them take part in a profile.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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