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[core] Fix #4953: Deprecate PMDConfiguration#getClassLoader (#6845)

* [core] Fix #4953: Deprecate PMDConfiguration#getClassLoader

PMDConfiguration now stores the given raw auxClasspath as string.
For backwards compatibility, a classloader can still be set externally
when using the programmatic API.
But usually (e.g. via CLI), the auxClasspath is set now via the
JvmLanguagePropertyBundle only,
which creates the actual classloader only when requested.
This means, the classloader is not created anymore eagerly by
PMDConfiguration.

The given auxClasspath is checked early for validity.
All files/directories must exist.

* [core] fix #4952: Document PMDConfiguration classLoader closing

* Add TODO for #6841

* Fix test auxClasspathWithRelativeFile() under Windows

* fix: when verifying auxclasspath allow not existing directory entries

At least maven-pmd-plugin might provide a directory, which doesn't
exist, e.g. "target/test-classes". As we don't check the auxclasspath
for completeness (which we can't anyway at this point), there is
no difference between a non-existing directory or an empty
directory or an incomplete directory. The result is the same:
the provided auxclasspath is incomplete.
The reason for the empty/non-existing directory might be, that the
project being analyzed was not compiled yet - but we don't know.

Later on, when trying to resolve classes from the auxclasspath
and we don't find classes, we can report this problem, as we
know for sure, that the auxclasspath is incomplete (see #5064).

For now, we only log a warning for each suspicious auxClasspath entry.

* Revert formatting changes in release notes

* Fix tests

* Fix unused import

* refactor: Use AuxClasspathUtil in PMDConfiguration

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