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Upgrade libp2p (enables go 1.21 support)
This change is primarily intended to support go 1.21, but as a side-effect requires updating libp2p, which in turn triggers an update of golang.org/x/exp which creates quite a bit of (simple) churn in the slice sorting. This change introduces a new `cmp.Compare` function which can be used to return an integer satisfying the compare interface for slice sorting. In order to continue to support mplex for libp2p, the change references github.com/libp2p/go-libp2p-mplex instead. Please see the PR at libp2p/go-libp2p#2498 for the official usptream comment that indicates official support for mplex being moved to this location.
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