This commit adds the ability to start `ctrld` without config file. All
necessary information can be provided via command line flags, either in
base64 encoded config or launch arguments.
Previously, for each DoH query, we use the net/http default transport
with DialContext function re-assigned. This has some problems:
- The first query to server will be slow.
- Using the default transport for all upstreams can have race condition
in case of multiple queries to multiple DoH upstreams
This commit fixes those issues, by initializing a separate transport for
each DoH upstream, the warming up the transport by doing a test query.
Later queries can take the advantage and re-use the connection.
