KAFKA-18613: Auto-creation of internal topics in streams group heartbeat #18981
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Implements auto-topic creation when handling the streams group heartbeat.
Inside KafkaApis, the handler for streamsGroupHeartbeat uses the result of the streams group heartbeat inside the group coordinator to attempt to create all missing internal topics using AutoTopicCreationManager. CREATE TOPIC ACLs are checked. The unit tests class AutoTopicCreationManagerTest is brought back (it was recently deleted during a ZK removal PR), but testing only the kraft-related functionality.
This is a stacked PR. Only review the last commit.
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