ipn, cmd/tailscale/cli: add LocalAPI IPN bus watch, Start, convert CLI

Updates #6417
Updates tailscale/corp#8051

Change-Id: I1ca360730c45ffaa0261d8422877304277fc5625
Signed-off-by: Brad Fitzpatrick <bradfitz@tailscale.com>
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Gitea Version: 1.28.0+dev-477-g8b6ad49a5f