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

lib/libzutil/os/linux/zutil_import_os.c

@@ -582,9 +582,8 @@ zfs_device_get_physical(struct udev_device *dev, char *bufptr, size_t buflen)
  * Wait up to timeout_ms for udev to set up the device node.  The device is
  * considered ready when libudev determines it has been initialized, all of
  * the device links have been verified to exist, and it has been allowed to
- * settle.  At this point the device the device can be accessed reliably.
- * Depending on the complexity of the udev rules this process could take
- * several seconds.
+ * settle.  At this point the device can be accessed reliably. Depending on
+ * the complexity of the udev rules this process could take several seconds.
  */
 int
 zpool_label_disk_wait(const char *path, int timeout_ms)