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[cli] Don't force specific endpoints for remote servers
At the moment, the CLI tool expects that remote MCP servers, either
using SSE or streamable HTTP transport, have certain endpoints or
fragments -- `/sse` and `/mcp`, respectively. This is not part of the
MCP spec, nor should it be expected.
I also added a check to make sure a URL is provided if STDIO isn't
picked, erroring out if not.
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