Replaces #18812
Upgraded with:
```
find . -name '*.go' -exec sed -i s/"github.com\/hashicorp\/go-msgpack\/codec"/"github.com\/hashicorp\/go-msgpack\/v2\/codec/" '{}' ';'
find . -name '*.go' -exec sed -i s/"github.com\/hashicorp\/net-rpc-msgpackrpc"/"github.com\/hashicorp\/net-rpc-msgpackrpc\/v2/" '{}' ';'
go get
go get -v -u github.com/hashicorp/raft-boltdb/v2
go get -v github.com/hashicorp/serf@5d32001edfaa18d1c010af65db707cdb38141e80
```
see https://github.com/hashicorp/go-msgpack/releases/tag/v2.1.0
for details
* Upgrade from hashicorp/go-msgpack v1.1.5 to v2.1.0
Fixes#16808
* Update hashicorp/net-rpc-msgpackrpc to v2 to match go-msgpack
* deps: use go-msgpack v2.0.0
go-msgpack v2.1.0 includes some code changes that we will need to
investigate furthere to assess its impact on Nomad, so keeping this
dependency on v2.0.0 for now since it's no-op.
---------
Co-authored-by: Luiz Aoqui <luiz@hashicorp.com>
