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Add `copy` keyword argument to `QuantumCircuit.append` (#12098)

We always copy compile-time parametric instructions during
`QuantumCircuit.append` to avoid accidental mutation of other references
in a call to `assign_parameters(inplace=True)`.  However, mostly our
rotation gates are added through things like `QuantumCircuit.rz`, where
the only reference to the `RZGate` is internal to the `QuantumCircuit`,
so creating and immediately copying it is a waste of time.

This commit adds a `copy` argument to `QuantumCircuit.append`, so we can
set it to `False` in places where we know we own the instruction being
added.

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