add jwt verification for service auth
- jwt.zig: parse and verify ES256/ES256K tokens
- multibase.zig: base58btc decoding for DID document keys
- multicodec.zig: parse secp256k1/p256 key types from prefix
follows atproto.com/specs/xrpc service auth spec
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Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>