#9444: use first of prefix_chars for help opt instead of raising error

An argparse option parser created with a prefix_chars that did not
include a '-' would happily add -h and --help options, and then throw
an error when it tried to format the help because the - was an invalid
prefix character.  This patch makes it use the first character of
prefix_chars as the character for the help options if and only if '-'
is not one of the valid prefix_chars.

Fix by Theodore Turocy, unit tests by Catherine Devlin.