Implement a new custom extensions API

The old custom extensions API was not TLSv1.3 aware. Extensions are used
extensively in TLSv1.3 and they can appear in many different types of
messages. Therefore we need a new API to be able to cope with that.

Reviewed-by: Rich Salz <rsalz@openssl.org>
(Merged from https://github.com/openssl/openssl/pull/3139)