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Merge rust-bitcoin/rust-bitcoin#2652: psbt: Return internal key for key path spend

<a class=hub.com/rust-bitcoin/rust-bitcoin/commit/<a class="double-link" href="https://git"><a class=hub.com/rust-bitcoin/rust-bitcoin/commit/14040e2ff570cb24b63610c415601cbdbca775e6">14040e2ff<a href="https://github.com/rust-bitcoin/rust-bitcoin/commit/df9b31ddcfb7f3b98902d3fe7073f6fdaad0fa60"> psbt: Return the internal key for key path spend (Tobin C. Harding)
<a class="double-link" href="https://github.com/rust-bitcoin/rust-bitcoin/commit/ffd5664c080613757b2069f7c182df3e7fb29f58">ffd5664c0</a><a href="https://github.com/rust-bitcoin/rust-bitcoin/commit/df9b31ddcfb7f3b98902d3fe7073f6fdaad0fa60"> Do not panic if input_index is out of bounds (Tobin C. Harding)
</a><a class="double-link" href="https://github.com/rust-bitcoin/rust-bitcoin/commit/f79f20d4e6d66a195e82baab3d3e304516bf5e8b">f79f20d4e</a> Remove stale rustdoc (Tobin C. Harding)

Pull request description:

  When signing a Taproot input (in a PSBT) using a key path spend we currently return the pubkey associated with key that signs. However it is common to think of the internal key as being the one that signs even though this is not technically true. We also have the internal key in the PSBT so matching against it is less surprising.

  When using the `Psbt` type to sign a Taproot input using a key path spend return the internal key.

  - Patch 1: Fix stale docs
  - Patch 2: Remove unnecessary panic
  - Patch 3: Change the key returned when signing Taproot input as key path spend

  Done as part of #2557, this is the release blocking part.

ACKs for top commit:
  sanket1729:
    ACK 14040e2ff570cb24b63610c415601cbdbca775e6
  apoelstra:
    ACK 14040e2ff570cb24b63610c415601cbdbca775e6

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