tsnet: do not log using log.Printf by defaultdsnet/tsnet-logging

Printing to log.Printf by default made sense when there was
no automatic uploading to log.tailscale.io.
However, now that we support that by default,
logging to log.Printf if Server.Logf is nil seems superfluous.

The tsnet package is also intended to be instantiated as a library.
Thus, a single process can multiple tsnet instances running simultaneously.
The default behavior of each logging to log.Printf makes the
os.Stderr  of the main process unreadable.

Signed-off-by: Joe Tsai <joetsai@digital-static.net>

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