Update v5 docs

[colincasey]

This PR will be the staging area for multiple stacked PRs that update our API docs with markdown pages generated from TypeScript signatures + @tsdoc annotations. I'm introducing the API Extractor into our develop toolchain to handle this.

The main landing page which is linked to from the README is here:
https://github.com/salesforce/tough-cookie/blob/v5-docs/api/docs/tough-cookie.md

And the README changes:
https://github.com/salesforce/tough-cookie/blob/v5-docs/README.md

The idea is to:

• keep API docs are accurate since they will be generated automatically to match code
• allow for our README.md to be simpler since API docs can be moved to a dedicated area
• provide some guardrails against breaking API changes using the API Extractor tooling since the API Report output can be used as a basis for API review workflow

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Note

This PR will be marked as a draft until all the following child PRs in this stack have been reviewed and merged

• V5 Docs - getPublicSuffix #385
• V5 Docs - canonicalDomain #386
• V5 Docs - pathMatch #387
• V5 Docs - permuteDomain #388
• V5 Docs - cookieCompare #390
• V5 docs - defaultPath #391
• V5 Docs - domainMatch #393
• V5 Docs - formatDate #394
• V5 Docs - parseDate #395
• V5 Docs - version #396
• V5 Docs - permutePath #397
• V5 Docs - PrefixSecurity #398
• V5 Docs - ParameterError #399
• V5 Docs - Cookie #400
• V5 Docs - CookieJar #401
• V5 Docs - Store and MemoryStore #402
• V5 Docs - README #407
• V5 Docs - GitHub Action Changes #408