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Break FindCoordinator into request/response methods
This splits the `_find_coordinator_id()` method (which is blocking) into request generation / response parsing methods. The public API does not change. However, this allows power users who are willing to deal with risk of private methods changing under their feet to decouple generating the message futures from processing their responses. In other words, you can use these to fire a bunch of requests at once and delay processing the responses until all requests are fired. This is modeled on the work done in #1845. Additionally, I removed the code that tried to leverage the error checking from `cluster.add_group_coordinator()`. That code had changed in #1822, removing most of the error checking... so it no longer adds any value, but instead merely increases complexity and coupling.
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