[improve][doc] Improve the authentication enablement workflow across multiple providers - #18035
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Motivation
Improve the doc set of the Security chapter to provide Pulsar users with an easy-to-use and easy-to-understand information experience.
This PR attempts to align the workflow to enable Athenz/JWT/OAuth2/Keberos authentication with TLS/Basic Auth. Currently, the described workflow lacks clear logic and seems to be very different with each other. Outdated information will be refreshed as well.
Previously related work: #17615, #17666 and #17808.
Modifications
How it works in Pulsarfor authentication.Many thanks to @nodece for providing technical inputs.
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