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Improve support and documentation for manual offsets (#1135)
According to the javadoc of `seek`, when a given offset is invalid, it falls back to the `auto.offset.reset` configuration. In this change we allow the user to set that configuration when `Manual` offset retrieval is used. Furthermore, testing showed that we fall back to 'Auto' behavior when no offset is given. This change also contains a behavior change. For Manual offsets, when no offset is given by the user, before we would skip the records from the first poll. After this change those are no longer skipped. In addition, add documentation on how to configure offset retrieval. Note: this change is source compatible, but not binary compatible.
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