Get teleport /readyz state from heartbeats instead of cert rotation #4223
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Heartbeats are more frequent and result in more up-to-date /readyz
status. Concretely, it goes from ~10min status update to <1m.
Also, refactored the state tracking code to track the status of
individual teleport components (auth/proxy/node).
This PR also vendors github.com/stretchr/testify for https://github.com/gravitational/teleport/blob/master/rfd/0001-testing-guidelines.md
Updates #3743