p2p/discover: improve table addition code (#18974)
This change clears up confusion around the two ways in which nodes can be added to the table. When a neighbors packet is received as a reply to findnode, the nodes contained in the reply are added as 'seen' entries if sufficient space is available. When a ping is received and the endpoint verification has taken place, the remote node is added as a 'verified' entry or moved to the front of the bucket if present. This also updates the node's IP address and port if they have changed.
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