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Remove deprecated middleware actions

We previously deprecated the [`doc`][1] and [`after submit`][2]
middleware actions in favour of `readSnapshots` and `afterSubmit`
respectively.

In preparation for the breaking v1.0 release, this change removes these
deprecated middlewares and their associated shims.

[1]: https://github.com/share/sharedb/pull/209
[2]: https://github.com/share/sharedb/pull/212

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