Fix flaky test embed.TestEnableAuth which can fail due to port conflict

[jonathan-albrecht-ibm]

Add test utils to create unique urls for embed tests to fix

'listen tcp 127.0.0.1:2380: bind: address already in use'

errors when running embed tests.

[k8s-ci-robot]

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[themavik]

TestEnableAuth now wires Listen/Advertise/InitialCluster through testutil.NewConfigTestURLs like serve_test, so unix paths stay pid-scoped and the flake from clashing defaults should go away. nit: variable name testURLConfg looks like a typo for Config.

[jonathan-albrecht-ibm]

TFTR @themavik! I have fixed the typo