pkey: implement {DH,DSA,RSA}#public_key in Ruby

The low-level API that is used to implement #public_key is deprecated
in OpenSSL 3.0. It is actually very simple to implement in another way,
using existing methods only, in much shorter code. Let's do it.

While we are at it, the documentation is updated to recommend against
using #public_key. Now that OpenSSL::PKey::PKey implements public_to_der
method, there is no real use case for #public_key in newly written Ruby
programs.

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