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internal/client: Make the lease manager thread-safe
This race was exceptionally rare due to how the lease manager is typically used by the sqlmigrations package, but it is indeed a race. Holding a semaphore while making a remote RPC is usually a terrible idea, but in the context of how it's used it's actually more dangerous to let ExtendLease and ReleaseLease interleave, since if ReleaseLease's CPut fails then the sqlmigrations package will log.Fatal, and the only potential for lock contention is between one goroutine using ExtendLease and one running ReleaseLease. Perhaps this is tuning the package too tightly to the needs of its client, but as of now it's its only client. Fixes cockroachdb#28222 Release note: None
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