[3.4] Backport clientv3:get AuthToken gracefully without dialing gRPC with balancer API to get extra connection #16826
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Part of #16740
Backport #12165 to release-3.4 as the first step to remove etcd dependence on gRPC old balancer API.
#16800 should be merged first and this PR will be rebased on top of that.
Please read https://github.com/etcd-io/etcd/blob/main/CONTRIBUTING.md#contribution-flow.