Enable TLS by default and add UI for client/daemon auth

Turns on TLS by default and uses public keys to authenticate access.

- This PR still may require further testing and input on the user experience.
- FSNotify support has not been added to detect changes to authorized_keys
- Implementation of proposal from #7667

@bfirsh please review and comment on whether this is missing anything needed
Could we sneak in new options here? Like `--auth-ca`/`--auth-cert`/`--auth-key`. The `--tls...` options are terrible.