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Remove list argument broadcasting and simplify transpile() (#10291)

* Remove list argument broadcasting and simplify transpile()

This commit updates the transpile() function to no longer support
broadcast of lists of arguments. This functionality was deprecated in
the 0.23.0 release. As part of this removal the internals of the
transpile() function are simplified so we don't need to handle
broadcasting, building preset pass managers, parallel dispatch, etc
anymore as this functionality (without broadcasting) already exists
through the transpiler API. Besides greatly simplifying the transpile()
code and using more aspects of the public APIs that exist in the
qiskit.transpiler module, this commit also should fix the overhead we
have around parallel execution due to the complexity of supporting
broadcasting. This overhead was partially addressed before in #7789
which leveraged shared memory to minimize the serialization time
necessary for IPC but by using `PassManager.run()` internally now all of
that overhead is removed as the initial fork will have all the necessary
context in each process from the start.

Three seemingly unrelated changes made here were necessary to support our
current transpile() API without building custom pass manager
construction.

The first is the handling of layout from intlist. The
current Layout class is dependent on a circuit because it maps Qubit
objects to a physical qubit index. Ideally the layout structure would
just map virtual indices to physical indices (see #8060 for a similar
issue, also it's worth noting this is how the internal NLayout and QPY
represent layout), but because of the existing API the construction of
a Layout is dependent on a circuit. For the initial_layout argument when
running with multiple circuits to avoid the need to broadcasting the
layout construction for supported input types that need the circuit to
lookup the Qubit objects the SetLayout pass now supports taking in an
int list and will cons... (continued)

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