GH-128520: pathlib ABCs: add `JoinablePath.__vfspath__()` (#133437)

In the abstract interface of `JoinablePath`, replace `__str__()` with
`__vfspath__()`. This frees user implementations of `JoinablePath` to
implement `__str__()` however they like (or not at all.)

Also add `pathlib._os.vfspath()`, which calls `__fspath__()` or
`__vfspath__()`.