Tolerate AuthenticationSwitchUserEvent with null target user
When Spring Security is misconfigured it's possible to switch from an anonymous user to a normal user. When switching back again, the corresponding AuthenticationSwitchUserEvent will have a null target user. Previously, Actuator's AuthenticationAuditListener would throw a NullPointerException when it received such an event. This commit updates the audit listener to defensively handled events with a null target user. Closes gh-15767pull/15943/head
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