add quickstart support for ha

[dovholuknf]

• add oidc to controller apis
• add ha flag support to router config gen
• add warn when creating a CA with a trust-domain with path information specified
• if a spiffe-id is supplied to server/client, use whatever is supplied
• if a trust-domain is provided to ca with a path, remove the path information and warn the user
• add hidden ha commands/flags
• add -- non-voting for ha
• add -- no-router flag to start just a controller if that's desirable

[plorenz]

Could use a github workflow to call the ha quickstart test, but otherwise, looks good to me 👍