config: filter iproto.listen at replicaset building

There are a few nuances in using the `iproto.listen` option as a peer
URI at replicaset building (constructing a list of peer URIs).

* `iproto.listen` is a comma separated list of URIs: the single URI is
  just a special case.
* `iproto.listen` may contain `0.0.0.0` or `::` host and/or zero port.
  It is perfectly valid for listening, but doesn't give enough
  information to connect.

Let's handle `iproto.listen` appropriately: split it the URI list, walk
over the URIs and check whether the URI is suitable to connect. The
first suitable URI is used as the peer URI.

If no suitable URI is found, raise an error (it means a startup failure
if occurs at a startup).

Part of #8810

NO_DOC=the old behavior was not released, the documentation request will
       be registered manually
NO_CHANGELOG=see NO_DOC