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This commit implements an experimental UDP relay server. The UDP relay server leverages the Disco protocol for a 3-way handshake between client and server, along with 3 new Disco message types for said handshake. These new Disco message types are also considered experimental, and are not yet tied to a capver. The server expects, and imposes, a Geneve (Generic Network Virtualization Encapsulation) header immediately following the underlay UDP header. Geneve protocol field values have been defined for Disco and WireGuard. The Geneve control bit must be set for the handshake between client and server, and unset for messages relayed between clients through the server. Updates tailscale/corp#27101 Signed-off-by: Jordan Whited <jordan@tailscale.com>