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Re-add the setupCommissioningSessionWithPayload API on MTRDeviceContr…
…oller. (#23159) This is a re-landing of some of the API addition parts of #22596 and #22566, without including any of the API changes/removals. The code is nearly identical to what was on master before Darwin framework changes were reverted in #23155; the differences have to do with the different type and name of MTRSetupPayload's rendezvousInformation.
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