This PR adds support for mutual TLS 
(https://en.wikipedia.org/wiki/Mutual_authentication). 

This adds a new "requireClientAuth" property and truststore properties on the 
server-side TLS config. 

If "requireClientAuth"  is true, Druid will require clients to identify 
themselves by providing a TLS certificate.

The server-side truststore needs to be configured with the certificates needed 
to validate the client certificates.

On the client side for internal communications (`simple-client-sslcontext` 
extension), new keystore properties are added, specifying the client 
certificate that a Druid service will use when communicating with other Druid 
services. 

[ Full content available at: 
https://github.com/apache/incubator-druid/pull/6076 ]
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