Ian Roberts b44b2a090c
fix: when claim-based OIDC is configured, treat unknown roleArn as claim-based auth (#21512)
RoleARN is a required parameter in AssumeRoleWithWebIdentity, 
according to the standard AWS implementation, and the official 
AWS SDKs and CLI will not allow you to assume a role from a JWT 
without also specifying a RoleARN.  This meant that it was not 
possible to use the official SDKs for claim-based OIDC with Minio 
(minio/minio#21421), since Minio required you to _omit_ the RoleARN in this case.

minio/minio#21468 attempted to fix this by disabling the validation 
of the RoleARN when a claim-based provider was configured, but this had 
the side effect of making it impossible to have a mixture of claim-based 
and role-based OIDC providers configured at the same time - every 
authentication would be treated as claim-based, ignoring the RoleARN entirely.

This is an alternative fix, whereby:

- _if_ the `RoleARN` is one that Minio knows about, then use the associated role policy
- if the `RoleARN` is not recognised, but there is a claim-based provider configured, then ignore the role ARN and attempt authentication with the claim-based provider
- if the `RoleARN` is not recognised, and there is _no_ claim-based provider, then return an error.
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