Re-authenticate requests that failed authentication

[stefannica]

Describe changes

When the zenml server to which a client is connected is being removed and then re-deployed to the same URL (e.g. when a ZenML Pro tenant is deactivated and then re-activated), the API token cached by the client becomes invalid (because the key used by the server to sign the API tokens changes).

When this happens, the client is expected to silently recover without throwing any errors, by leveraging other means of re-authentication at its disposal (e.g. server API key or ZenML Pro control plane authentication). However, the cached token is not currently invalidated and properly removed, which results in errors such as the following:

$ zenml login
No server argument was provided. Re-authenticating to ZenML Pro...
Hint: You can run 'zenml login <server-url-id-or-name>' to connect to a specific ZenML Pro server.
If your browser did not open automatically, please open the following URL into your browser to proceed with the authentication:

https://staging.cloud.zenml.io/devices/verify?user_code=...

Successfully logged in to ZenML Pro.
You can now run 'zenml server list' to view the available ZenML Pro servers and then 'zenml login <server-url-name-or-id>' to connect to a specific server without having to log in again until your session
expires.
Connecting to ZenML Pro server: ...
Authenticating to ZenML server ...
Error: Authorization error: The current credentials are no longer valid. Please log in again using 'zenml login'.

This PR corrects this behavior by making the client even more robust and trying requests for up to 3 times if the server responds with authentication errors:

• firstly, without authentication (i.e. authenticating to the server is done lazily, only when needed)
• secondly, after authenticating to the server or re-using a cached session token
• thirdly, after re-authenticating, to account for cases where the existing cached token, even though still valid, is rejected by the server for other reasons (e.g. the signature is no longer valid)

This PR also contains a small fix to the zenml server list CLI command to remove inactive ZenML Pro servers from the output, unless --all is specified.

Pre-requisites

Please ensure you have done the following:

• I have read the CONTRIBUTING.md document.
• I have added tests to cover my changes.
• I have based my new branch on develop and the open PR is targeting develop. If your branch wasn't based on develop read Contribution guide on rebasing branch to develop.
• IMPORTANT: I made sure that my changes are reflected properly in the following resources:
  • ZenML Docs
  • Dashboard: Needs to be communicated to the frontend team.
  • Templates: Might need adjustments (that are not reflected in the template tests) in case of non-breaking changes and deprecations.
  • Projects: Depending on the version dependencies, different projects might get affected.

Types of changes

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Other (add details above)

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