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fix: avoid panic on hardened derivation paths in PSBT key origins
The verify_key closure in derive_from_psbt_key_origins called
.expect() on xpub.derive_pub(), which panics when the derivation
path contains hardened steps. Since PSBT data is untrusted, a
maliciously crafted bip32_derivation entry with hardened steps could
crash the application.
Replace the panic with graceful error handling by returning false
on derivation failure.
Co-Authored-By: HAL 9000
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