[pull] develop from OffchainLabs:develop #806
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…via libp2p AutoNAT v2 (#16100) **What type of PR is this?** Feature **What does this PR do? Why is it needed?** This PR adds support for detecting and logging per address reachability via libp2p AutoNAT v2. See https://github.com/libp2p/go-libp2p/releases/tag/v0.42.0 for details. This PR also upgrades Prysm to libp2p v0.42.0 **Which issues(s) does this PR fix?** Fixes ##16098 **Other notes for review** **Acknowledgements** - [x] I have read [CONTRIBUTING.md](https://github.com/prysmaticlabs/prysm/blob/develop/CONTRIBUTING.md). - [x] I have included a uniquely named [changelog fragment file](https://github.com/prysmaticlabs/prysm/blob/develop/CONTRIBUTING.md#maintaining-changelogmd). - [x] I have added a description to this PR with sufficient context for reviewers to understand this PR.
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