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
I wonder whether these docs would be better called "Controlling Docker remotely" or "Securing connections between the client and daemon". HTTPS seems like the means rather than the problem a user is trying to solve.