Prevent control client pool service from leaking stale client references
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Description
The pool service that connects incoming gRPC control clients to consumers may leak client references. See [https://github.com/apache/beam/pull/5189#discussion_r183144364](https://github.com/apache/beam/pull/5189#discussion_r183144364) for context.
It's worth considering whether we actually expect to have enough incoming control clients to make this an issue.
Imported from Jira [BEAM-4151](https://issues.apache.org/jira/browse/BEAM-4151). Original Jira may contain additional context.
Reported by: bsidhom.
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