[SPARK-3495] Block replication fails continuously when the replication target node is dead AND [SPARK-3496] Block replication by mistake chooses driver as target

If a block manager (say, A) wants to replicate a block and the node chosen for replication (say, B) is dead, then the attempt to send the block to B fails. However, this continues to fail indefinitely. Even if the driver learns about the demise of the B, A continues to try replicating to B and failing miserably.

The reason behind this bug is that A initially fetches a list of peers from the driver (when B was active), but never updates it after B is dead. This affects Spark Streaming as its receiver uses block replication.

The solution in this patch adds the following.
- Changed BlockManagerMaster to return all the peers of a block manager, rather than the requested number. It also filters out driver BlockManager.
- Refactored BlockManager's replication code to handle peer caching correctly.
    + The peer for replication is randomly selected. This is different from past behavior where for a node A, a node B was deterministically chosen for the lifetime of the application.
    + If replication fails to one node, the peers are refetched.
    + The peer cached has a TTL of 1 second to enable discovery of new peers and using them for replication.
- Refactored use of \<driver\> in BlockManager into a new method `BlockManagerId.isDriver`
- Added replication unit tests (replication was not tested till now, duh!)

This should not make a difference in performance of Spark workloads where replication is not used.

@andrewor14 @JoshRosen 
Because existing code did so. Changing to milli.