ci: add replay-jenkins-build script and presubmit job (#4194)

This pull request improves the documentation and CI workflow for Jenkins
pipeline changes, and refactors the Prow job configuration to support
better pre-PR validation and replay testing. The main focus is to ensure
that changes to `pipelines/**/*.groovy` files are thoroughly validated
both locally and in presubmit jobs, and to clarify the process for
contributors. Additionally, the Prow job YAML files are refactored for
maintainability.

**Documentation enhancements:**

* Added a new section in `docs/contributing.md` recommending local
static and replay checks for Jenkins pipeline changes, with command
examples and links to further documentation.
* Expanded `docs/guides/CI.md` with detailed instructions on pre-PR
verification, including static validation, replay testing, and how to
use Prow jobs for Jenkins pipeline changes.

**CI and Prow job improvements:**

* Added a new optional presubmit job `pull-replay-jenkins-pipelines` in
`prow-jobs/pingcap-qe/ci/presubmits.yaml` to automate replay validation
of changed pipeline files, including job configuration, environment
variables, and usage of secrets.
* Refactored Prow job YAML to use a global `labels` anchor for
consistency and maintainability, updating all job definitions
accordingly.
* Minor restructuring in `prow-jobs/tikv/pd/common-presubmits.yaml` to
clarify section separation and maintain consistency.

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Co-authored-by: gemini-code-assist[bot] <176961590+gemini-code-assist[bot]@users.noreply.github.com>

Author: wuhuizuo