KAFKA-20169: Support static membership for Kafka Streams with the streams rebalance protocol at Client Side.

[chickenchickenlove]

Summary

This PR adds the remaining client-side support for static membership when Kafka Streams uses the streams rebalance protocol (group.protocol=streams) introduced by KIP-1071.

The change allows group.instance.id to be used with the streams protocol, sends the proper static-member leave epoch when a static Streams member closes with DEFAULT or REMAIN_IN_GROUP, and treats UNRELEASED_INSTANCE_ID as a known fatal heartbeat error.

Some close-related changes that were part of my previous full PR #21603 are intentionally not included here because they are already covered by #21579, which introduced CloseOptions.DEFAULT for Kafka Streams.

Changes

• Allow static membership configuration with group.protocol=streams.
• Handle UNRELEASED_INSTANCE_ID explicitly in StreamsGroupHeartbeatRequestManager.
• Add coverage for static member close behavior:
  • DEFAULT and REMAIN_IN_GROUP use LEAVE_GROUP_STATIC_MEMBER_EPOCH.
  • LEAVE_GROUP uses LEAVE_GROUP_MEMBER_EPOCH.
  • pollOnClose sends the static leave epoch and instance id.
• Update Streams config tests to verify group.instance.id is allowed for unprefixed, consumer., and
  main.consumer. configurations.