xdsclient: handle empty server configs in bootstrap file

The [xDS federation spec](https://github.com/grpc/proposal/blob/master/A47-xds-federation.md#bootstrap-config-changes) says that the top-level xDS server list is to be used if unspecified for any entry in the `authorities` map. This is not handled correctly here: https://github.com/grpc/grpc-go/blob/2c0949c22d46095edc579d9e66edcd025192b98c/xds/internal/xdsclient/authority.go#L57

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xdsclient: handle empty server configs in bootstrap file #5489

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xdsclient: handle empty server configs in bootstrap file #5489

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