Merge upstream/main into add-ws-transport

Resolved conflicts in:
- .gitignore: Combined JavaScript interop and Sphinx build ignores
- libp2p/__init__.py: Integrated QUIC transport support with WebSocket transport
- libp2p/network/swarm.py: Used upstream's improved listener handling
- pyproject.toml: Kept both WebSocket and QUIC dependencies

This merge brings in:
- QUIC transport implementation
- Enhanced swarm functionality
- Improved peer discovery
- Better error handling
- Updated dependencies and documentation

WebSocket transport implementation remains intact and functional.

libp2p/security/security_multistream.py

@@ -118,6 +118,8 @@ class SecurityMultistream(ABC):
             # Select protocol if non-initiator
             protocol, _ = await self.multiselect.negotiate(communicator)
         if protocol is None:
-            raise MultiselectError("fail to negotiate a security protocol")
+            raise MultiselectError(
+                "Failed to negotiate a security protocol: no protocol selected"
+            )
         # Return transport from protocol
         return self.transports[protocol]