Add yamux as first streamMuxer

[dapplion]

Problem description

Beacon chain spec expects implementations to support yamux.

Yamux is a better multiplexer than yamux per-spec as it supports per stream back-pressure. However Javascript mplex implementation is more battle tested and has served us well, while yamux is new and may have bugs or performance issues

Solution description

@chainsafe/libp2p-yamux is fully developed now, we should attempt to incorporate it by heavily testing it

• See some testing notes in: Add yamux as first streamMuxer #4845

Additional context

No response

[philknows]

Some suggestions from ACDC 139 based on our testing done for yamux. Because yamux and mplex are not working well together, there were suggestions to:

• Have options for users to switch between yamux and mplex rather than enabling both.
• On startup, we can base the first streamMuxer on how many peers we get using either option and can set some threshold to switch over.

[wemeetagain]

We are planning on prioritizing quic support over fixing yamux support.