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doc: standardize on sentence case for headers
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Previously, our documentation headers were a mixture of title case,
sentence case, and things that were neither. For technical
documentation, the _de facto_ standard seems to be sentence case. (See
refs below.) So let's standardize on that. This commit follows a
commit implementing this standard. This commit adds it to the style
guide.

Refs: https://developers.google.com/style/capitalization#capitalization-in-titles-and-headings
Refs: https://docs.microsoft.com/en-us/style-guide/capitalization

PR-URL: #33889
Backport-PR-URL: #33964
Reviewed-By: Luigi Pinca <luigipinca@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
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Trott authored and codebytere committed Jul 8, 2020
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* NOT OK: It is important to note that, in all cases, the return value will be
a string regardless.
<!-- lint enable prohibited-strings remark-lint-->
* For headings, use sentence case, not title case.
* OK: _## Everybody to the limit_
* NOT OK: _## Everybody To The Limit_

See also API documentation structure overview in [doctools README][].

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