p2p/discover: remove use of shared hash instance for key derivation (#21673)

For some reason, using the shared hash causes a cryptographic incompatibility
when using Go 1.15. I noticed this during the development of Discovery v5.1
when I added test vector verification.

The go library commit that broke this is golang/go@97240d5, but the
way we used HKDF is slightly dodgy anyway and it's not a regression.