[BUG] Inconsistent Method Signatures on transports PublishServer

[Sxderp]

Description
Ideally all the transports have the same interface so that they can be plugged in and used as desired. I noticed a few instances where the method signatures do not match. Notably the "io_loop" parameter on ZeroMQ def publisher as well as ssl in the __init__.

The missing ssl argument contributes to #66577 although fixing the method definition does not completely fix that issue.

The missing io_loop contributes to being unable to use ZeroMQ as an internal IPC transport. Right now TCP is hardcoded as the only option. See here and here. The io_loop parameter is used by the server to start the service, but fails with ZeroMQ. Once the method is fixed ZeroMQ started to work without issue.

Setup
N/A

Steps to Reproduce the behavior
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Expected behavior
The ability to use any transport.

Screenshots
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Versions Report
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Additional context
PR #66751

Followups should probably be made to normalize RequestServer / RequestClient / PublishClient.