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Remove nullptr safety check from sax_parse functions (#5139)

PR #4873 introduced a safety check in sax_parse functions to catch
nullptr passed as SAX parser object, which had been already annotated by
JSON_HEDLEY_NON_NULL macro.

Compilers (e.g. clang) which respected the non-null annotation tended to
eliminate the safety check completely in optimized builds, while
compilers which did not, compiled the safety check in. This led to
different behaviors accross different compilers/platforms  and/or build
types (debug, release).

This commit reverts PR #4873 to remove this discrepancy. Passing null to
non-null annotated parameter is considered to be undefined behavior.

Fixes #5048

Signed-off-by: Richard Musil <risa2000x@gmail.com>
Co-authored-by: Richard Musil <risa2000x@gmail.com>

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