all: remove everything related to non-seamless key renewal

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Seamless key renewal has been the default in all clients since 1.90.
We retained the ability to disable it from the control plane as a
precaution, but we haven't seen any issues that require us to disable it.

We're now removing all the code for non-seamless key renewal, because we
don't expect to turn it on again, and indeed it's been untested in the
field for three releases so might contain latent bugs!

Updates tailscale/corp#33042

Change-Id: I4b80bf07a3a50298d1c303743484169accc8844b
Signed-off-by: Alex Chan <alexc@tailscale.com>

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