Exempt AuthTo from disconnect check

[AdamMagaluk]

PS: This coupling is a bit scary. My understanding was this was done to help with better error messages. Eg. Saying you're disconnected.

[github-actions]

Note: merge base coverage results not available, comparing against closest fb67c2d~1=(8d1db7e) instead

Package	Line Rate	Delta	Health
go.viam.com/rdk/components/arm	61%	0.00%	➖
go.viam.com/rdk/components/arm/universalrobots	13%	0.00%	❌
go.viam.com/rdk/components/arm/xarm	2%	0.00%	❌
go.viam.com/rdk/components/arm/yahboom	7%	0.00%	❌
go.viam.com/rdk/components/audioinput	55%	-0.34%	➖
go.viam.com/rdk/components/base	67%	0.00%	➖
go.viam.com/rdk/components/base/agilex	62%	0.00%	➖
go.viam.com/rdk/components/base/boat	41%	0.00%	❌
go.viam.com/rdk/components/base/wheeled	76%	0.00%	✅
go.viam.com/rdk/components/board	68%	0.00%	➖
go.viam.com/rdk/components/board/arduino	10%	0.00%	❌
go.viam.com/rdk/components/board/commonsysfs	47%	0.00%	❌
go.viam.com/rdk/components/board/fake	38%	0.00%	❌
go.viam.com/rdk/components/board/numato	19%	0.00%	❌
go.viam.com/rdk/components/board/pi	50%	0.00%	➖
go.viam.com/rdk/components/camera	65%	-0.26%	➖
go.viam.com/rdk/components/camera/fake	67%	0.00%	➖
go.viam.com/rdk/components/camera/ffmpeg	76%	-1.43%	✅
go.viam.com/rdk/components/camera/transformpipeline	77%	0.00%	✅
go.viam.com/rdk/components/camera/videosource	56%	0.00%	➖
go.viam.com/rdk/components/encoder/fake	77%	0.00%	✅
go.viam.com/rdk/components/gantry	68%	0.00%	➖
go.viam.com/rdk/components/gantry/multiaxis	84%	0.00%	✅
go.viam.com/rdk/components/gantry/oneaxis	86%	0.00%	✅
go.viam.com/rdk/components/generic	83%	0.00%	✅
go.viam.com/rdk/components/gripper	80%	0.00%	✅
go.viam.com/rdk/components/input	87%	0.00%	✅
go.viam.com/rdk/components/input/gpio	84%	0.00%	✅
go.viam.com/rdk/components/motor	81%	0.00%	✅
go.viam.com/rdk/components/motor/dimensionengineering	63%	0.00%	➖
go.viam.com/rdk/components/motor/dmc4000	69%	0.00%	➖
go.viam.com/rdk/components/motor/fake	57%	0.00%	➖
go.viam.com/rdk/components/motor/gpio	64%	0.00%	➖
go.viam.com/rdk/components/motor/gpiostepper	56%	-0.59%	➖
go.viam.com/rdk/components/motor/tmcstepper	62%	0.00%	➖
go.viam.com/rdk/components/movementsensor	75%	0.00%	✅
go.viam.com/rdk/components/movementsensor/cameramono	40%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	37%	0.00%	❌
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	0.00%	❌
go.viam.com/rdk/components/posetracker	86%	0.00%	✅
go.viam.com/rdk/components/sensor	86%	0.00%	✅
go.viam.com/rdk/components/sensor/ultrasonic	34%	0.00%	❌
go.viam.com/rdk/components/servo	78%	0.00%	✅
go.viam.com/rdk/components/servo/gpio	71%	0.00%	✅
go.viam.com/rdk/config	76%	-0.53%	✅
go.viam.com/rdk/control	57%	0.00%	➖
go.viam.com/rdk/data	77%	0.00%	✅
go.viam.com/rdk/grpc	25%	0.00%	❌
go.viam.com/rdk/ml	67%	0.00%	➖
go.viam.com/rdk/ml/inference	70%	0.00%	✅
go.viam.com/rdk/motionplan	59%	-0.10%	➖
go.viam.com/rdk/octree	98%	0.00%	✅
go.viam.com/rdk/operation	82%	0.00%	✅
go.viam.com/rdk/pointcloud	72%	0.00%	✅
go.viam.com/rdk/protoutils	59%	0.00%	➖
go.viam.com/rdk/referenceframe	70%	-0.60%	✅
go.viam.com/rdk/registry	90%	0.00%	✅
go.viam.com/rdk/resource	83%	0.00%	✅
go.viam.com/rdk/rimage	78%	0.00%	✅
go.viam.com/rdk/rimage/depthadapter	94%	0.00%	✅
go.viam.com/rdk/rimage/transform	73%	0.00%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	0.00%	➖
go.viam.com/rdk/robot	85%	0.00%	✅
go.viam.com/rdk/robot/client	82%	0.00%	✅
go.viam.com/rdk/robot/framesystem	68%	+0.27%	➖
go.viam.com/rdk/robot/impl	81%	0.00%	✅
go.viam.com/rdk/robot/server	57%	+0.69%	➖
go.viam.com/rdk/robot/web	59%	0.00%	➖
go.viam.com/rdk/robot/web/stream	87%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol	71%	0.00%	✅
go.viam.com/rdk/services/armremotecontrol/builtin	52%	0.00%	➖
go.viam.com/rdk/services/baseremotecontrol	71%	0.00%	✅
go.viam.com/rdk/services/baseremotecontrol/builtin	79%	0.00%	✅
go.viam.com/rdk/services/datamanager	65%	0.00%	➖
go.viam.com/rdk/services/datamanager/builtin	80%	0.00%	✅
go.viam.com/rdk/services/datamanager/datacapture	21%	0.00%	❌
go.viam.com/rdk/services/datamanager/datasync	72%	0.00%	✅
go.viam.com/rdk/services/motion	63%	0.00%	➖
go.viam.com/rdk/services/motion/builtin	88%	0.00%	✅
go.viam.com/rdk/services/navigation	54%	0.00%	➖
go.viam.com/rdk/services/sensors	77%	0.00%	✅
go.viam.com/rdk/services/sensors/builtin	97%	0.00%	✅
go.viam.com/rdk/services/shell	14%	0.00%	❌
go.viam.com/rdk/services/slam	84%	0.00%	✅
go.viam.com/rdk/services/slam/builtin	72%	0.00%	✅
go.viam.com/rdk/services/vision	80%	0.00%	✅
go.viam.com/rdk/services/vision/builtin	74%	0.00%	✅
go.viam.com/rdk/session	97%	0.00%	✅
go.viam.com/rdk/spatialmath	83%	-2.60%	✅
go.viam.com/rdk/subtype	96%	0.00%	✅
go.viam.com/rdk/utils	72%	-0.18%	✅
go.viam.com/rdk/vision	26%	0.00%	❌
go.viam.com/rdk/vision/chess	80%	0.00%	✅
go.viam.com/rdk/vision/delaunay	87%	0.00%	✅
go.viam.com/rdk/vision/keypoints	92%	0.00%	✅
go.viam.com/rdk/vision/objectdetection	82%	0.00%	✅
go.viam.com/rdk/vision/odometry	60%	0.00%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	0.00%	❌
go.viam.com/rdk/vision/segmentation	49%	0.00%	❌
go.viam.com/rdk/web/server	26%	0.00%	❌
Summary	66% (20263 / 30755)	-0.12%	➖

[edaniels]

LGTM. we should probably annotate protos to get rid of these and check dynamically instead