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Auth header is url-encoded #6154

@jshufro

Description

@jshufro

Describe the bug

Lodestar seems to be URL-encoding the username:password pair for basic auth before base64 encoding and setting the Authorization header.

(I will see about PRing a fix)

Expected behavior

Auth headers aren't part of the URL and need not be encoded

Steps to reproduce

Set a username with an = in it
Observe that the validator queries with a Authorization header with a value that decodes to %3D

Additional context

This has broken the rescue node's work flow again ;)

Operating system

Linux

Lodestar version or commit hash

v1.11.3

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