feat(xrpc-server): WWW-Authenticate helper and AuthRequiredError option
add `formatWWWAuthenticate()` for building RFC 7235 challenge headers from
`{ scheme, params?, token68? }` values. `AuthRequiredError` now accepts a
`wwwAuthenticate` option that auto-formats the header and appends
`access-control-expose-headers: www-authenticate` so browsers can read the
challenge from CORS responses.