Backport of Fix nil-pointer panics from proxycfg package. into release/1.15.x#16279
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Backport
This PR is auto-generated from #16277 to be assessed for backporting due to the inclusion of the label backport/1.15.
The below text is copied from the body of the original PR.
Prior to this PR, servers / agents would panic and crash if an ingress or api gateway were configured to use a discovery chain that both:
This could occur, because code for handling upstream watches was shared between both connect-proxy and the gateways. As a short-term fix, this PR ensures that the maps are always initialized for these gateway services.
To help prevent this, the PR also wraps the proxycfg execution and service registration calls with recover statements to ensure that future issues like this do not put the server into an unrecoverable state.
Closes #16238
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