FeatureRequest: Enable dynamic use of mavp2p

[friend0]

Hello - first off, thank you for developing this project, I'm finding it very useful for some research I'm undertaking.
I'm running into a use case where I'd like to use mavp2p functionality dynamically instead of starting the process from the command line.

For this use case, I have slightly modified mavp2p on my own fork to make certain primitives public to external clients.
It's then possible for mavp2p to be used as a module, and new routers can be created on the fly.
The CLI would remain unchanged, of course.

If this is a feature you'd be interested in, I'm happy to share, and integrate any feedback you may have re: the implementation and the do a PR. If not, that's ok too, but it could be nice to share this functionality instead of me maintaining a fork.