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Improves concurrency with MQTT in AWSIoT (aws-amplify#4211)
* eliminates Dispatch Semaphore * moves work which mutates state into private functions which are only run on a serial queue * adds assertions to ensure work is on the right queue * replaces semaphore with queue in AWSMQTTEncoder, AWSMQTTSession and AWSIoTMQTTClient
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