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Get rid of `libp2p` dependency in `sc-authority-discovery` #7793

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Job	Run time
build-implementers-guide	25s
preflight / preflight	33s
preflight / ci-versions	1m 1s
test-doc	28m 34s
build-rustdoc	10m 24s
publish-rustdoc	0s
All docs jobs passed	1s
	40m 58s