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feat(core): add extension() registrar for SEP-2133 capability-aware custom methods#1868

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feat(core): add extension() registrar for SEP-2133 capability-aware custom methods#1868
felixweinberger wants to merge 7 commits into
fweinberger/custom-method-handlersfrom
fweinberger/extension-registrar

docs: add client.md/server.md sections and @example blocks for extens…

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@modelcontextprotocol/express

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