mirror p2p-discover specs work

[protolambda]

This mirrors the PR in specs repo: ethereum-optimism/optimistic-specs#439

git remote add localspecs ../optimistic-specs
git fetch localspecs
git cherry-pick --strategy=recursive -X theirs b37e6587f0a16989126dd0c8b18b2148d87d010d...ebb8c2cd8b94ab8ec817ce885ca1c0afc4243f84

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This PR changes implementation code, but doesn't include a changeset. Did you forget to add one?

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This PR is next in line to be merged, and will be merged as soon as checks pass.