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chore(Cargo.toml): Better document direct deps
- Slight adjustments to the version fields for compatibility with `cargo +nightly update -Z direct-minimal-versions` with the MSRV of `1.56.0` - Add `rust-version` field for leveraging `cargo +nightly update -Z msrv-policy` to generate a lockfile that respects the MSRV, and the benefit of downstreams. - Better communicate why `dev-dependencies` are required (examples and/or tests). - Avoid repeating deps in `dev-dependencies`. - Raise fixed `warp` dev dep to a MSRV compatible version with common `tokio-util` implicit dep. Simplifies CI lock maintenance.
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