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Functional changes: - Key derivation no longer panics, instead it returns an error on failed condition checks. - Migration to crypto/hkdf required changes in various function signatures, adding an error return value for propagating key derivation errors up the calling chain. Tests were refactored to account for the signature change as well. Non-functional changes: - migrate to crypto/pbkdf2 - migrate to crypto/sha3 - migrate to crypto/hkdf - add deriveHMACSecret function to simplify caller function - simplify deriveHMACSecret - fix test: specify non-empty HMACSecret