feat: add refreshSession endpoint
Implement com.atproto.server.refreshSession for token refresh:
- Add verifyRefreshJwt with audience validation
- Extract shared verifyJwt helper to reduce duplication
- Change refresh token expiration from 90 days to 24 hours
- Fix error name AuthenticationRequired → AuthRequired
Tests:
- Unit tests for verifyRefreshJwt (valid, expired, wrong type, malformed)
- E2E tests for happy path and error cases
- Remove test numbers from e2e.sh for easier maintenance
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Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>