harness: refresh supported CLI registry versions and models

[willwashburn]

Summary

Refresh the supported harness registry versions and model lists for existing Relay-supported CLIs.

Context

packages/shared/cli-registry.yaml is the source of truth for supported CLI versions and models. The market scan found current upstream releases ahead of the local registry for at least Codex and Gemini, so this should be maintained separately from adding new harnesses.

Sources:

• packages/shared/cli-registry.yaml
• https://github.com/openai/codex/releases
• https://github.com/google-gemini/gemini-cli/releases

Scope

• Audit current versions for Claude Code, Codex CLI, Gemini CLI, OpenCode, Cursor Agent, Droid, Aider, and Goose.
• Refresh model lists where the provider exposes stable public model identifiers.
• Run model codegen and update generated artifacts.
• Add or update tests that catch stale registry/generated mismatches.
• Update docs/changelog if user-facing defaults change.

Acceptance

• Registry and generated model files are in sync.
• Supported CLI versions reflect current upstream releases where practical.
• Default model changes, if any, are explicitly documented.