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Restore pv header on dispatcher-written POSTs; widen auto-mode probe fallback
The streamable-HTTP transport now clears its cached MCP-Protocol-Version
header when an initialize POST goes out, then lets every other POST read
the cache again (re-collapsing _base_headers into _prepare_headers).
This restores the header on JSON-RPC response/error/cancelled POSTs the
dispatcher writes without per-message metadata, while still preventing a
discover-probe value from leaking onto a fallback initialize.
Client(mode='auto') now also falls back to initialize() when the probe
is rejected with INVALID_REQUEST — what a deployed v1.x stateful (or
stateless) streamable-HTTP server returns for a session-id-less request
or an unknown protocol-version header. The lifecycle:discover requirement
text is updated to match.
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