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[RPC] Split RPC API for sync and async to have explicit return types #24247

@mrshenli

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@mrshenli

As pointed out by @aazzolini in #23569, instead of using an async_call arg to distinguish sync and async RPC, we should split it into different sync and async APIs, so that we can have explicit return type hints.

cc @pietern @mrshenli @pritamdamania87 @zhaojuanmao @satgera

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module: rpcRelated to RPC, distributed autograd, RRef, and distributed optimizeroncall: distributedAdd this issue/PR to distributed oncall triage queuetriagedThis issue has been looked at a team member, and triaged and prioritized into an appropriate module

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