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Only collect single fingerprints/ICE credentials
The way currently DTLS fingerprints and ICE credentials are picked is causing interop issues as described in #2621 Peers which don't use Bundle can use different fingerprints and credentials in each media section. Even though is not (yet) supported by Pion, receiving an SDP offer from such a peer is valid. Additionally if Bundle is being used the group attribute determines which media section is the master bundle section, which establishes the transport. Currently Pion always just uses the first credentials/fingerprint it can find in the SDP, which results in not spec compliant behavior. This PR attempts to fix the above issues and make Pion more spec compliant and interoperable. Fixes #2621
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