Add worktree script (#35593)

Intended to be used directly and/or from skills in an agent.

Usage is `./scripts/worktree.sh [--compiler] [--claude] <name>`. The
script:
* Checks that ./worktrees is in gitignore
* Checks the named worktree does not exist yet
* Creates the named worktree in ./worktrees/
* Installs deps
* cds into the worktree (optionally the compiler dir if `--compiler`)
* optionally runs claude in the worktree if `--claude`