p2p/discover: improve table addition code (#18974)

This change clears up confusion around the two ways in which nodes
can be added to the table.

When a neighbors packet is received as a reply to findnode, the nodes
contained in the reply are added as 'seen' entries if sufficient space
is available.

When a ping is received and the endpoint verification has taken place,
the remote node is added as a 'verified' entry or moved to the front of
the bucket if present. This also updates the node's IP address and port
if they have changed.