tstest: add AssertNotParallel helper

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For tests to loudly declare (and panic on violation) when they're doing
something that's not safe in a parallel test.

Fixes #19385

Change-Id: If79693b0c235c146871a05ed74fa9ea75bb500f9
Signed-off-by: Brad Fitzpatrick <bradfitz@tailscale.com>

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