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feat: add HMAC challenge/response authentication for relay
- Implement HMAC‑SHA256 challenge/response for relay registration and agent connections, rejecting unauthenticated peers.
- Add deadline‑based timeout to protect against hanging handshakes and replay attacks.
- Refactor secure handshake to use per‑connection random challenge instead of a static string.
- Update README with detailed security guidance and replay protection notes.
- Introduce extensive unit tests for relay authentication and secure connection round‑trip.
- Bump Go version to 1.25 and clean up .gitignore.
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