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xds: fix URI creation used to instantiate DNS name resolver (#8129)
When creating the URI using Channel authority for instantiating a DNS resolver in the cluster_resolver LB policy, a "dns" scheme needs to be manually attached and the Channel authority would be used as the URI path (same as creating Channel with target). Otherwise, the Channel authority will just be used as the scheme and causing name resolver not found. The change also handles name resolver lookup more defensively. Although it should not happen, if there does have bug causing DNS resolver not being able to be loaded, the cluster_resolver LB policy propagates the INTERNAL error to upstream.
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