/tmp/consul-test folder is not deleted when test finishes

#### Overview of the Issue

When running a Consul CLI, it starts TestServer(s) to run test(s).
At https://github.com/hashicorp/consul/blob/master/sdk/testutil/io.go#L26, /tmp/consul-test folder is created as the base directory for all temporary directories and files created with TempDir and TempFile.
However /tmp/consul-test folder won't be deleted when the test finishes.

Can we delete this folder when test is done? Or can we have a flag in Consul CLI to disable test?

#### Reproduction Steps

Steps to reproduce this issue, eg:

1. Download and install Consul binary in Windows.
2. In cmd.exe, run `consul`
3. Check c:\tmp, there is a consul-test folder.

### Consul info for both Client and Server

Client info

```
output from client 'consul info' command here
```

Server info

```
output from server 'consul info' command here
```

### Operating system and Environment details

Windows 10 & Windows 2019, consul v1.7.3 & v1.9.5

### Log Fragments

No log

Start with sdk/testutil/io.go, especially the code that creates /tmp/consul-test and the TempDir or TempFile cleanup paths. Reproduce the behavior on Windows with the Consul CLI, then run the affected testutil tests. Done means the base temporary folder is removed when test execution finishes, including the reported Windows case.

Written by the indexing model from the issue text.