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Support OpenAPI 3.1 in addition to 3.0
### Motivation
Fixes#39. We need to start accepting 3.1 documents in addition to 3.0.
It also has useful features, like being able to add descriptions to references.
### Modifications
Migrated the codebase to use the `OpenAPIKit` instead of the `OpenAPIKit30` module, and updated the parser to handle both 3.0 and 3.1, and convert 3.0 to 3.1 documents in memory transparently.
### Result
OpenAPI 3.1 documents are now accepted, instead of rejected. Any 3.1 specific features can be addressed separately, this is the MVP support.
### Test Plan
Updated the file-based reference test to use version 3.1.0, and the parser tests that 3.0.x documents are loaded and converted successfully. So no need to duplicate our reference tests or anything.
Reviewed by: Kyle-Ye, glbrntt
Builds:
✔︎ pull request validation (5.8) - Build finished.
✔︎ pull request validation (5.9) - Build finished.
✔︎ pull request validation (docc test) - Build finished.
✔︎ pull request validation (integration test) - Build finished.
✔︎ pull request validation (nightly) - Build finished.
✔︎ pull request validation (soundness) - Build finished.
#219
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