bpo-42236: Enhance init and encoding documentation (GH-23109)

Enhance the documentation of the Python startup, filesystem encoding
and error handling, locale encoding. Add a new "Python UTF-8 Mode"
section.

* Add "locale encoding" and "filesystem encoding and error handler"
  to the glossary
* Remove documentation from Include/cpython/initconfig.h: move it to
  Doc/c-api/init_config.rst.
* Doc/c-api/init_config.rst:

  * Document command line options and environment variables
  * Document default values.

* Add a new "Python UTF-8 Mode" section in Doc/library/os.rst.
* Add warnings to Py_DecodeLocale() and Py_EncodeLocale() docs.
* Document how Python selects the filesystem encoding and error
  handler at a single place: PyConfig.filesystem_encoding and
  PyConfig.filesystem_errors.
* PyConfig: move orig_argv member at the right place.