Fix ZED auto-replace for VDEVs using by-id paths

The change is simple -- restore the original code so that the VDEV 
path is updated when using by-id paths.  The more challenging part 
was to devise a second ZTS test, that would test auto-replace for 
'by-id' and help prevent a future regression.

With that new test, we can now do an A|B test with , and without, 
the fix to confirm that auto-replace for by-id paths works. The 
existing auto-replace test, functional/fault/auto_replace_001_pos, 
will confirm that we didn't break auto-replace for 'by-vdev' paths.

In the original functional/fault/auto_replace_001_pos test, the disk 
wipe (using dd) was not effective in removing the partitioning since 
the kernel was never informed of the wipe.

Added a call to wipefs(8) so that the kernel is informed and ZED will 
re-partition the device.
    
Added a validation step that the re-partitioning occurred by
confirming  that the GPT partition UUID changes.

Sponsored-By: OpenDrives Inc.
Sponsored-By: Klara Inc.
Reviewed-by: Rob Norris <rob.norris@klarasystems.com>
Reviewed-by: Tony Hutter <hutter2@llnl.gov>
Signed-off-by: Don Brady <don.brady@klarasystems.com>
Closes #15363

include/libzutil.h

@@ -34,7 +34,7 @@ extern "C" {
 #endif
 
 /*
- * Default wait time for a device name to be created.
+ * Default wait time in milliseconds for a device name to be created.
  */
 #define	DISK_LABEL_WAIT		(30 * 1000)  /* 30 seconds */