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UsefulPeer verifies whether a given peer.ID would be a good fit for the routing table. It returns true if the bucket corresponding to peer.ID isn't full, if it contains replaceable peers or if it is the last bucket and adding a peer would unfold it.
This function is necessary for go-libp2p-kad-dht, as remote DHT servers are queried before they are added to the DHT. We don't want to query peers whose ID belong to a full bucket anyway. This function helps preventing querying useless peers.
References: libp2p/go-libp2p-kad-dht#820