gh-125063: marshal: Add version 5, improve documentation (GH-126829)

* Document that slices can be marshalled
* Deduplicate and organize the list of supported types
  in docs
* Organize the type code list in marshal.c, to make
  it more obvious that this is a versioned format
* Back-fill some historical info

Co-authored-by: Michael Droettboom <mdboom@gmail.com>