cmd/tailscaled: move cleanup to an implicit action during startup

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This removes a potentially increased boot delay for certain boot
topologies where they block on ExecStartPre that may have socket
activation dependencies on other system services (such as
systemd-resolved and NetworkManager).

Also rename cleanup to clean up in affected/immediately nearby places
per code review commentary.

Fixes #11599

Signed-off-by: James Tucker <james@tailscale.com>

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