bpo-40334: Avoid collisions between parser variables and grammar variables (GH-19987)

This is for the C generator:
- Disallow rule and variable names starting with `_`
- Rename most local variable names generated by the parser to start with `_`

Exceptions:
- Renaming `p` to `_p` will be a separate PR
- There are still some names that might clash, e.g.
  - anything starting with `Py`
  - C reserved words (`if` etc.)
  - Macros like `EXTRA` and `CHECK`