feat: phase 2 relay implementation

Implement the Axon relay as relay/ (module axon/relay). Includes:
- WebSocket framing (RFC 6455, no external deps) in relay/websocket/
- Per-connection auth: challenge/response with ed25519 + allowlist check
- Ingest pipeline: sig verify, dedup, ephemeral fanout, SQLite persistence
- Subscription manager with prefix-matching filter fanout in relay/subscription/
- SQLite storage with WAL/cache config and UNION query builder in relay/storage/
- Graceful shutdown on SIGINT/SIGTERM
- Filter/TagFilter types added to axon core package (required by relay)

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