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Before this change, second_factor types 'on' and 'optional' required U2F. Starting at the next Teleport version, those settings require Webauthn by default and treat U2F as optional. Group second factor tests by second factor type, which is a more natural way to think about configuration and cuts some repetition in testing. * Simplify and extend second factor config tests * Allow second_factor 'on' and 'optional' without U2F * Make teleport.yaml parsing correctly reflect absent U2F * Simplify uses of GetSecondFactor when applicable We can take advantage of the IsSecondFactor*Allowed functions to do some heavy lifting for us. * Additional error handling