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Today the `GetDiscoveredNodesAction` waits, possibly indefinitely, to discover enough nodes to bootstrap the cluster. However it is possible that the cluster forms before a node has discovered the expected collection of nodes, in which case the action will wait indefinitely despite the fact that it is no longer required. This commit changes the behaviour so that the action fails once a node receives a cluster state with a nonempty configuration, indicating that the cluster has been successfully bootstrapped and therefore the `GetDiscoveredNodesAction` need wait no longer. Relates #36380 and #36381; reverts 558f4ec27820e1a50660dc1f3437422150339af0.