chore: upgrade to iroh 0.96

## Description

Also upgrades:
- iroh-quinn
- iroh-blobs
- iroh-gossip
- irpc

Author: ramfox

.github/workflows/ci.yaml

@@ -16,7 +16,7 @@ env:
   RUST_BACKTRACE: 1
   RUSTFLAGS: -Dwarnings
   RUSTDOCFLAGS: -Dwarnings
-  MSRV: "1.85"
+  MSRV: "1.89"
   SCCACHE_CACHE_SIZE: "50G"
   IROH_FORCE_STAGING_RELAYS: "1"
 
@@ -201,18 +201,16 @@ jobs:
     env:
       RUSTC_WRAPPER: "sccache"
       SCCACHE_GHA_ENABLED: "on"
+      RUSTDOCFLAGS: -Dwarnings
     steps:
-    - uses: actions/checkout@v4
-    - uses: dtolnay/rust-toolchain@master
-      with:
-        toolchain: nightly-2025-10-09
-    - name: Install sccache
-      uses: mozilla-actions/sccache-action@v0.0.9
+      - uses: actions/checkout@v6
+      - uses: dtolnay/rust-toolchain@nightly
+      - uses: dtolnay/install@cargo-docs-rs
+      - name: Install sccache
+        uses: mozilla-actions/sccache-action@v0.0.9
 
-    - name: Docs
-      run: cargo doc --workspace --all-features --no-deps --document-private-items
-      env:
-        RUSTDOCFLAGS: --cfg docsrs
+      - name: iroh-docs docs
+        run: cargo docs-rs
 
   clippy_check:
     timeout-minutes: 30