This patch tackles two things at once that are fairly intertwined:
1. There is no such thing as a "substream" in libp2p, the spec and other implementations only talk about "streams". We fix this by deprecating `NegotiatedSubstream`.
2. Previously, `NegotiatedSubstream` was a type alias that pointed to a type from `multistream-select`, effectively leaking the version of `multistream-select` to all dependencies of `libp2p-swarm`. We fix this by introducing a `Stream` newtype.
Resolves: #3759.
Related: #3748.
Pull-Request: #3912.
