[Universal Parser] Reduce dependence on RArray in parse.y

- Introduce `rb_parser_ary_t` structure to partly eliminate RArray from parse.y
  - In this patch, `parser_params->tokens` and `parser_params->ast->node_buffer->tokens` are now `rb_parser_ary_t *`
  - Instead, `ast_node_all_tokens()` internally creates a Ruby Array object from the `rb_parser_ary_t`
  - Also, delete `rb_ast_tokens()` and `rb_ast_set_tokens()` in node.c

- Implement `rb_parser_str_escape()`
  - This is a port of the `rb_str_escape()` function in string.c
  - `rb_parser_str_escape()` does not depend on `VALUE` (RString)
  - Instead, it uses `rb_parser_stirng_t *`
  - This function works when --dump=y option passed

- Because WIP of the universal parser, similar functions like `rb_parser_tokens_free()` exist in both node.c and parse.y. Refactoring them may be needed in some way in the future

- Although we considered redesigning the structure: `ast->node_buffer->tokens` into `ast->tokens`, we leave it as it is because `rb_ast_t` is an imemo. (We will address it in the future)

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