feat(mdns): adds support for individual peer srv and txt queries

[elijahhampton]

Description

Implements support for querying individual peer srv and txt records via dns-sd. Fixes and closes #5982.

Previously, libp2p-mdns only responded to service discovery queries and general peer queries. This commit adds support for querying specific peeres.

Notes & open questions

Change checklist

• [x] I have performed a self-review of my own code
• [x] I have made corresponding changes to the documentation
• [x] I have added tests that prove my fix is effective or that my feature works
• [x] A changelog entry has been made in the appropriate crates