Tracking Issue: early muxer selection

[marten-seemann]

eta: 2022Q4

Discussed with @julian88110 yesterday: We'll target the completion of this feature for the v0.24 release. The TLS part is almost done, and it is expected that the Noise part can be completed in the next 1-2 weeks.

Done criteria:

• early muxer selection when using TLS (tls: use ALPN to negotiate the stream multiplexer #1772)
• early muxer selection when using Noise (noise: use Noise Extension to negotiate the muxer during the handshake #1813)
• Remove multistream.transport as an entity of type network.multiplexer #1854
• Create integration test for libp2p early muxer negotiation #1836
• double check that the Testground cross-version test hits these new code paths
• spec merged: Muxer selection in security handshake specs#446
• docs: Document "Early Muxer Negotiation" docs#213
• early muxer selection: fail early #1889