*Fix for [KAFKA-6764](https://issues.apache.org/jira/browse/KAFKA-6764).*

- With group-id, always subscribe() and auto-assign. Seek based on 
partition/offset config(Not sure if seek should be supported console-consumer 
when a group-id is specified. Because assign() and subscribe() can't be used 
together for the same topic-consumer-group combination)
- Without group-id (Auto Commit Offset is always disabled):
  - Partition/Offset specified, then assign.
  - Partition/Offset not specified, then subscribe.

Correct if I am wrong.

### Committer Checklist (excluded from commit message)
- [ ] Verify design and implementation 
- [ ] Verify test coverage and CI build status
- [ ] Verify documentation (including upgrade notes)


[ Full content available at: https://github.com/apache/kafka/pull/5637 ]
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