feat: add StartWithListener method to api and rpc server

[winteriscome]

add StartWithListener method to api and rpc

more friendly support third-party packages to implement graceful upgrades
such as

fvbock/endless
jpillora/overseer
cloudflare/tableflip

[codecov]

Codecov Report

Attention: Patch coverage is 66.25000% with 27 lines in your changes missing coverage. Please review.

Project coverage is 94.42%. Comparing base (8690859) to head (7b24a25).
Report is 166 commits behind head on master.

Files with missing lines	Patch %	Lines
rest/engine.go	25.00%	12 Missing ⚠️
rest/internal/starter.go	61.29%	10 Missing and 2 partials ⚠️
zrpc/server.go	25.00%	2 Missing and 1 partial ⚠️

Additional details and impacted files

Files with missing lines	Coverage Δ
rest/server.go	96.90% <100.00%> (+0.37%)	⬆️
zrpc/internal/rpcserver.go	100.00% <100.00%> (ø)
zrpc/internal/server.go	100.00% <ø> (ø)
zrpc/server.go	86.11% <25.00%> (+1.30%)	⬆️
rest/engine.go	95.14% <25.00%> (-4.86%)	⬇️
rest/internal/starter.go	67.74% <61.29%> (-6.46%)	⬇️

... and 5 files with indirect coverage changes

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