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refactor: remove health check and rely on MCP session initialization
The /health endpoint has session authentication requirements that make it
unsuitable for pre-connection testing. Instead, we now rely on the MCP
session initialization itself to verify connectivity.
This simplification:
- Removes unnecessary health check step
- Tests the actual MCP endpoint we care about
- Provides better error messages when connection fails
- Aligns with how the official MCP SDK is designed to be used
The MCP SDK will handle connection errors gracefully and provide
clear error messages if the server isn't reachable.
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