fix: use libp2p auto dial

[jacobheun]

Moves all peer discovery dialing logic to libp2p, which prevents dialing discovered nodes when we have enough peers.

• depends on feat: auto dial discovered peers libp2p/js-libp2p#349

[alanshaw]

Changes LGTM, can the autoDial config please be added to the README?

FYI, I'm hoping that flakey windows test failure will be fixed by #1985

[jacobheun]

Added it to the libp2p config section of the readme.

[jacobheun]

I've also updated the custom libp2p example and preemptively added the dependency as 0.25.0 for libp2p. I've gone through all the libp2p examples to update those, libp2p/js-libp2p#353.

I'll do some final testing this afternoon and do a release of 0.25 tonight or first thing tomorrow morning.

cc @vasco-santos