p2p/discv5: fix multiple discovery issues (#16036)

* p2p/discv5: add query delay, fix node address update logic, retry refresh if empty

* p2p/discv5: remove unnecessary ping before topic query

* p2p/discv5: do not filter local address from topicNodes

* p2p/discv5: remove canQuery()

* p2p/discv5: gofmt