Upgrade to the latest version of golang-jwt (#16590) (#16606)

* Upgrade to the latest version of golang-jwt.

Backport #16590

* Forcibly update the vendored versions too
* Update our minimal go lang version to 1.15 (differs from 1.16 in #16590)

Signed-off-by: Andrew Thornton <art27@cantab.net>

 ### ⚠️ BREAKING ⚠️

This PR raises the minimal version of go supported to 1.15 which will mean the end of support of 32-bit Mac and Mac OS versions before Sierra.

Signed-off-by: Andrew Thornton <art27@cantab.net>

* update minimal go required

Signed-off-by: Andrew Thornton <art27@cantab.net>

* update config.yaml

Signed-off-by: Andrew Thornton <art27@cantab.net>
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@ -9,10 +9,17 @@ A [go](http://www.golang.org) (or 'golang' for search engine friendliness) imple
Future releases will be using the `github.com/golang-jwt/jwt` import path and continue the existing versioning scheme of `v3.x.x+incompatible`. Backwards-compatible patches and fixes will be done on the `v3` release branch, where as new build-breaking features will be developed in a `v4` release, possibly including a SIV-style import path.
**SECURITY NOTICE:** Some older versions of Go have a security issue in the crypto/elliptic. Recommendation is to upgrade to at least 1.8.3. See issue [dgrijalva/jwt-go#216](https://github.com/dgrijalva/jwt-go/issues/216) for more detail.
**SECURITY NOTICE:** Some older versions of Go have a security issue in the crypto/elliptic. Recommendation is to upgrade to at least 1.15 See issue [dgrijalva/jwt-go#216](https://github.com/dgrijalva/jwt-go/issues/216) for more detail.
**SECURITY NOTICE:** It's important that you [validate the `alg` presented is what you expect](https://auth0.com/blog/critical-vulnerabilities-in-json-web-token-libraries/). This library attempts to make it easy to do the right thing by requiring key types match the expected alg, but you should take the extra step to verify it in your usage. See the examples provided.
### Supported Go versions
Our support of Go versions is aligned with Go's [version release policy](https://golang.org/doc/devel/release#policy).
So we will support a major version of Go until there are two newer major releases.
We no longer support building jwt-go with unsupported Go versions, as these contain security vulnerabilities
which will not be fixed.
## What the heck is a JWT?
JWT.io has [a great introduction](https://jwt.io/introduction) to JSON Web Tokens.