[w3c/ServiceWorker] should Client.navigate() reject on uncontrolled clients? (#1254)

Currently step 4 here:

https://w3c.github.io/ServiceWorker/#client-navigate

Requires that the `Client.navigate(url)` method reject if its called a Client that is not controlled by the current service worker.

What is the purpose of this restriction?

I believe an origin could easily use `Client.postMessage()` and then modify `window.location`.  AIUI this is the same rationale why we don't require interaction for `navigate()`.  Is this restriction legacy from before `includeUncontrolled:true`?

This came up because we were not aware of this spec step and I tried to fix the WPT in https://github.com/w3c/web-platform-tests/pull/8743.

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