Merge branch 'fix/dpop-security-improvements'
DPoP security improvements addressing PR review findings:
- feat(auth): comprehensive DPoP security improvements
- Access token hash (ath) validation per RFC 9449
- Proxy header support (X-Forwarded-Host, RFC 7239 Forwarded)
- EscapedPath for percent-encoded URLs
- Case-insensitive DPoP scheme per RFC 7235
- fix(auth): prevent goroutine leak from DPoP replay cache
- Graceful server shutdown with signal handling
- Proper cleanup in integration tests
- docs: update authentication documentation for DPoP scheme