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refactor(iroh-net): Avoid using .unwrap() calls (#2046)
## Description This is an attempt at an audit of all the .unwrap() calls in iroh-net. A few are replaced by .expect() with clear reasons why they're reasonable. Some are replaces by non-panicking versions which will never take the failure branch because of the invariants that are supposed to be upheld. Closes #1528 ## Notes & open questions This was surprisingly horrible and long to do. Oh well. Worth reviewing in detail I'm afraid. ## Change checklist - [x] Self-review. - [x] Documentation updates if relevant. - [x] Tests if relevant.
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