doc: add full deprecation history

I've had a hard time working with the deprecation documentation since it is currently lacking a history. Finding out when a deprecation was introduced or changed is difficult via Git and often impossible using our documentation alone. I think it is crucial to make the deprecation history transparent to users, so I tried to manually reconstruct the history of deprecations and to track them down to their origins. Having these documented publicly makes it much easier for users to find out when deprecations were introduced or changed, and it also helps us in maintaining Node.js.

The diff itself is large but will be low-maintenance once we start properly documenting these things. I also had to slightly fix the documentation tool to accept multiple versions for a single change. Note that some ancient versions might be slightly imprecise, tracking down deprecations from pre-io.js releases turned out to be difficult from time to time.

(This partially reverts https://github.com/nodejs/node/pull/21498 in that it adds the removed documentation sections again and updates them to properly represent the history of these deprecations.)

Checklist

• make -j4 test (UNIX), or vcbuild test (Windows) passes
• documentation is changed or added
• commit message follows commit guidelines