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Fix uses of require in goroutines #16953
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Let me know if you'd rather keep the channels or change other calls to use assert.
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The require checks from testify call (*testing.T).Fail, which should only be called from the test goroutine.
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- Restore grpc.Serve() error check - Combine the stop and channel read into a single cleanup
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The require checks from testify call (*testing.T).Fail, which should only be called from the test goroutine.