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feat(auth): make RAB feature production ready (#17390)
This PR resolves issues identified during verification of gcloud
Regional Access Boundary (RAB) flows and enables RAB verification by
default:
* Removes the client-side environment variable feature gate
(`GOOGLE_AUTH_TRUST_BOUNDARY_ENABLED`) to execute RAB lookups by default
across standard credential classes.
* Updates the Python auth SDK to recognize mTLS regional endpoints
(`.rep.mtls.googleapis.com`), bypassing redundant RAB lookups on secure
transport boundaries.
* Defers Service Account impersonation setup until HTTP request
execution before_request, propagating active cached tokens downward onto
the inner credential to guarantee that access tokens restored across
external CLI entrypoints correctly delegate regional access boundary
(RAB) lookups to target Service Account endpoints without forcing
redundant STS network renewal.
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