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Improve the performance of the `ProductFormula` synthesizers (#12724)

* [WIP] adds the output argument to the internal atomic evolution

* meta: modernize type hints

* refactor: change callable structure of atomic evolution

This changes the structure of the `atomic_evolution` callable in the
`ProductFormula` synthesis class. This is motivated by the significant
performance improvements that can be obtained by appending to the
existing circuit directly rather than building out individual evolution
circuits and iteratively composing them.

* refactor: deprecate the legacy atomic_evolution signature

* refactor: add the wrap argument to ProductFormula

This can be used to recover the previous behavior in which the single
individually evolved Pauli terms get wrapped into gate objects.

* fix: insert the missing barriers between LieTrotter repetitions

* refactor: align SuzukiTrotter and LieTrotter

* Propoagate deprecation notice

* fix: the labels of wrapped Pauli evolutions

* fix: respect the insert_barriers setting

* docs: add a release note

* Apply suggestions from code review

Co-authored-by: Julien Gacon <gaconju@gmail.com>

* fix: missing `wrap` forward in SuzukiTrotter

* docs: improve documentation of the `atomic_evolution` argument

Co-authored-by: Julien Gacon <gaconju@gmail.com>

* docs: also document the deprecated form of `atomic_evolution`

* docs: call out ProductFormula docs in release note

* refactor: change to PendingDeprecationWarning

* refactor: explicitly convert to Gate when wrapping

This is slightly faster than the `.compose`-based operation done
previously as it performs fewer checks. Thanks to @jakelishman for the
suggestion offline.

* Update qiskit/synthesis/evolution/lie_trotter.py

Co-authored-by: Julien Gacon <gaconju@gmail.com>

* docs: update after pending deprecation

---------

Co-authored-by: Julien Gacon <gaconju@gmail.com>

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