consul: Add consul health checking for all gRPC endpoints

[beautifulentropy]

• Add consul health checking for all gRPC endpoints
• Cut consul health checking interval from 2s to 1s and add a 500ms timeout (default: 10s) to solve for CI flakiness

[beautifulentropy]

While landing this would bring us closer to production, I fear it would also be a little too flaky in CI due to timing in startservers.py, which is not how we start components in production.