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Native support for key rotation in verifications
Add native support for key rotation for ES*, HS*, RS*, and PS* verifications. In those SigningMethod's Verify implementations, also allow the key to be the type of the slice of the supported key type, so that the caller can implement the KeyFunc to return all the accepted keys together to support key rotation. While key rotation verification can be done on the callers' side without this change, this change provides better performance because: - When trying the next key, the steps before actually using the key do not need to be performed again. - If a verification process failed for non-key reasons (for example, because it's already expired), it saves the effort to try the next key.
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