<SYSTEM_TASK:>
Solve the following problem using Python, implementing the functions described below, one line at a time
<END_TASK>
<USER_TASK:>
Description:
 def verify(self, otp, timestamp=False, sl=None, timeout=None, return_response=False):
 """ Verify a provided OTP. :param otp: OTP to verify. :type otp: ``str`` :param timestamp: True to include request timestamp and session counter in the response. Defaults to False. :type timestamp: ``bool`` :param sl: A value indicating percentage of syncing required by client. :type sl: ``int`` or ``str`` :param timeout: Number of seconds to wait for sync responses. :type timeout: ``int`` :param return_response: True to return a response object instead of the status code. Defaults to False. :type return_response: ``bool`` :return: True is the provided OTP is valid, False if the REPLAYED_OTP status value is returned or the response message signature verification failed and None for the rest of the status values. """

        ca_bundle_path = self._get_ca_bundle_path()

        otp = OTP(otp, self.translate_otp)
        rand_str = b(os.urandom(30))
        nonce = base64.b64encode(rand_str, b('xz'))[:25].decode('utf-8')
        query_string = self.generate_query_string(otp.otp, nonce, timestamp,
                                                  sl, timeout)

        threads = []
        timeout = timeout or DEFAULT_TIMEOUT
        for url in self.api_urls:
            thread = URLThread('%s?%s' % (url, query_string), timeout,
                               self.verify_cert, ca_bundle_path)
            thread.start()
            threads.append(thread)

        # Wait for a first positive or negative response
        start_time = time.time()
        while threads and (start_time + timeout) > time.time():
            for thread in threads:
                if not thread.is_alive():
                    if thread.exception:
                        raise thread.exception
                    elif thread.response:
                        status = self.verify_response(thread.response,
                                                      otp.otp, nonce,
                                                      return_response)

                        if status:
                            if return_response:
                                return status
                            else:
                                return True
                    threads.remove(thread)
            time.sleep(0.1)

        # Timeout or no valid response received
        raise Exception('NO_VALID_ANSWERS')