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Define requires and optional from one definition (#3035)

The two differed only in the `required:` they hand to `declare` and the
name they redispatch a deprecated positional options Hash under, yet each
spelled out the same signature and the same legacy check. They are now
defined from one loop over `{ requires: true, optional: false }`, as the
group validators just below them are.

YARD keeps documenting both through `@!method` directives. The `(see ...)`
references in `optional`'s docs name `Grape::DSL::Parameters#requires` in
full, since a bare `#requires` does not resolve inside a directive.

Co-authored-by: Claude Opus 5.5 <noreply@anthropic.com>

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