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broker: fix SaslAuthenticate, all: minor cleanliness
Turns out the hardcoded sasl authenticate key was wrong (36 vs 37). I'm not sure how this worked on my local cluster with plain & scram. While looking into that... this commit fixes that, avoids hardcoding keys in broker (while keeping two keys hardcoded in client), and makes nicer some log messages. Lastly, for KIP-368, after looking at the PR, it looks like the first step when reauthenticating is to handshake. So, this switches doSasl() to sasl() to go to handshake first.
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