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feat: Context aware `testMiddleware()` (#3435)

This improves the type of the `output` returned from `testMiddleware`
making it easier to test the context they provide.

<!-- This is an auto-generated comment: release notes by coderabbit.ai
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## Summary by CodeRabbit

* **Refactor**
* Improved type safety in middleware testing utilities and clarified
returned output shape.

* **Tests**
* Updated tests to use safer optional chaining and added static type
assertions to validate typings.

* **Documentation**
* Clarified changelog entry to reflect the updated typing and behavior
of middleware test output on errors.

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