Several improvements and bug fixes related to graceful reloads
Added a -grace flag to customize graceful shutdown period, fixed bugs related to closing file descriptors (and dup'ed fds), improved healthcheck signaling to parent, fixed a race condition with the graceful listener, etc. These improvements mainly provide better support for frequent reloading or unusual use cases of Start and Stop after a Restart (POSIX systems). This forum thread was valuable help in debugging: https://forum.golangbridge.org/t/bind-address-already-in-use-even-after-listener-closed/1510?u=matt
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