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client/v3: clear auth token when encounter ErrInvalidAuthToken
Old etcdserver which have not apply pr of #12165 will check auth token even if the request is an Authenticate request. If the client has a invalid auth token, it will not able to update it's token, since the Authenticate has a invalid auth token. This fix clear the auth token when encounter an ErrInvalidAuthToken to talk with old version etcd servers. Fix #12385 with #12165 and #12264
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