@rajinisivaram I reorganized `SaslClientAuthenticator` and 
`SaslServerAuthenticator` to make it much easier to tell by inspection that 
authentication is unaffected by the re-authentication code.  I am unable to 
reproduce the `AuthenticationException` problem we were seeing the other day -- 
the issue has not reappeared across several builds.  The reorganized code and a 
successful system test should give us high confidence that authentication is 
unaffected and the issue is likely something that happens rarely -- maybe due 
to some kind of race condition that is possible only during specific 
re-authentication states.  That's conjecture on my part, but I don't know what 
else I can do if the issue doesn't reappear.  I spent the entire day staring at 
the code and reorganizing it, and nothing jumped out at me.

Please review the latest code and let me know your thoughts on how you wish to 
proceed with respect to potentially merging this to trunk.

[ Full content available at: https://github.com/apache/kafka/pull/5582 ]
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