Paul Banks 88388d760d Support Agent Caching for Service Discovery Results (#4541)
* Add cache types for catalog/services and health/services and basic test that caching works

* Support non-blocking cache types with Cache-Control semantics.

* Update API docs to include caching info for every endpoint.

* Comment updates per PR feedback.

* Add note on caching to the 10,000 foot view on the architecture page to make the new data path more clear.

* Document prepared query staleness quirk and force all background requests to AllowStale so we can spread service discovery load across servers.
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