docs: Update sphinx (and the rest of the deps) #3402
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Remove pin to sphinx 5.x and remove sphinx-asyncio. Sphinx now supports asyncio out of the box. Everything I've checked looks fine although I haven't looked at every page. Fixes tornadoweb#3239
These were once needed (I think) to get the tests to run at all, even though they triggered warnings from sphinx. Now it works without them.
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Remove pin to sphinx 5.x and remove sphinx-asyncio. Sphinx now supports
asyncio out of the box. Everything I've checked looks fine although I
haven't looked at every page.
Fixes #3239