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implement discv5 handling #4089

@macfarla

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@macfarla

Besu is currently using discv4.
Teku using discv5, via this repo https://github.com/Consensys/discovery
Besu is already importing those libraries but we aren't using discv5 yet.
Think geth supports discv5, unsure about other clients

https://github.com/ethereum/devp2p/blob/master/discv5/discv5.md

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