KAFKA-19078: Implement automatic controller addition to cluster metadata partition

[kevin-wu24]

Add the controller.quorum.auto.join.enable configuration. When enabled with KIP-853 supported, follower controllers who are observers (their replica id + directory id are not in the voter set) will:

• Automatically remove voter set entries which match their replica id but not directory id by sending the RemoveVoterRPC to the leader.
• Automatically add themselves as a voter when their replica id is not present in the voter set by sending the AddVoterRPC to the leader.

[jsancio]

Feature description: https://cwiki.apache.org/confluence/pages/viewpage.action?pageId=217391519#KIP853:KRaftControllerMembershipChanges-Controllerautojoining

Add the controller.quorum.auto.join.enable configuration. When enabled with KIP-853 supported, follower controllers who are observers (their replica id + directory id are not in the voter set) will:

• Automatically remove voter set entries which match their replica id but not directory id.
• Automatically add themselves as a voter when their replica id is not present in the voter set.

I am going to use this description to generate the commit message. I don't think we should include URLs in the commit description. Ideally, the commit message should explain the changes without having to read other documents.