Backport of Update JWT to resolve CVE-2024-51744 into release/1.20.x (#21952)

* backport of commit 58449acf45

* backport of commit b51562deaf

---------

Co-authored-by: Sarah Alsmiller <sarah.alsmiller@hashicorp.com>

.changelog/21951.txt

@@ -0,0 +1,3 @@
+```release-note:security
+Update `github.com/golang-jwt/jwt/v4` to v4.5.1 to address [GHSA-29wx-vh33-7x7r](https://github.com/golang-jwt/jwt/security/advisories/GHSA-29wx-vh33-7x7r).
+```

go.mod

@@ -186,7 +186,7 @@ require (
 	github.com/go-openapi/validate v0.22.4 // indirect
 	github.com/go-ozzo/ozzo-validation v3.6.0+incompatible // indirect
 	github.com/gogo/protobuf v1.3.2 // indirect
-	github.com/golang-jwt/jwt/v4 v4.5.0 // indirect
+	github.com/golang-jwt/jwt/v4 v4.5.1 // indirect
 	github.com/golang/groupcache v0.0.0-20210331224755-41bb18bfe9da // indirect
 	github.com/golang/protobuf v1.5.4 // indirect
 	github.com/golang/snappy v0.0.4 // indirect

go.sum

@@ -287,8 +287,8 @@ github.com/gogo/protobuf v1.3.2/go.mod h1:P1XiOD3dCwIKUDQYPy72D8LYyHL2YPYrpS2s69
 github.com/goji/httpauth v0.0.0-20160601135302-2da839ab0f4d/go.mod h1:nnjvkQ9ptGaCkuDUx6wNykzzlUixGxvkme+H/lnzb+A=
 github.com/golang-jwt/jwt/v4 v4.0.0/go.mod h1:/xlHOz8bRuivTWchD4jCa+NbatV+wEUSzwAxVc6locg=
 github.com/golang-jwt/jwt/v4 v4.2.0/go.mod h1:/xlHOz8bRuivTWchD4jCa+NbatV+wEUSzwAxVc6locg=
-github.com/golang-jwt/jwt/v4 v4.5.0 h1:7cYmW1XlMY7h7ii7UhUyChSgS5wUJEnm9uZVTGqOWzg=
-github.com/golang-jwt/jwt/v4 v4.5.0/go.mod h1:m21LjoU+eqJr34lmDMbreY2eSTRJ1cv77w39/MY0Ch0=
+github.com/golang-jwt/jwt/v4 v4.5.1 h1:JdqV9zKUdtaa9gdPlywC3aeoEsR681PlKC+4F5gQgeo=
+github.com/golang-jwt/jwt/v4 v4.5.1/go.mod h1:m21LjoU+eqJr34lmDMbreY2eSTRJ1cv77w39/MY0Ch0=
 github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b/go.mod h1:SBH7ygxi8pfUlaOkMMuAQtPIUF8ecWP5IEl/CR7VP2Q=
 github.com/golang/glog v1.1.0 h1:/d3pCKDPWNnvIWe0vVUpNP32qc8U3PDVxySP/y360qE=
 github.com/golang/glog v1.1.0/go.mod h1:pfYeQZ3JWZoXTV5sFc986z3HTpwQs9At6P4ImfuP3NQ=