Matt Keeler a553982506
Enable running autopilot state updates on all servers (#12617)
* Fixes a lint warning about t.Errorf not supporting %w

* Enable running autopilot on all servers

On the non-leader servers all they do is update the state and do not attempt any modifications.

* Fix the RPC conn limiting tests

Technically they were relying on racey behavior before. Now they should be reliable.
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