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Add a default optimization level to generate_preset_pass_manager (#12150)

* Add a default optimization level to generate_preset_pass_manager

This commit adds a default value to the generate_preset_pass_manager's
optimization_level argument. If it's not specified optimization level 2
will be used. After #12148 optimization level 2 is a better fit for an
optimal tradeoff between heuristic effort and runtime that makes it
well suited as a default optimization level.

* Update transpile()'s default opt level to match

This commit updates the transpile() function's optimization_level argument
default value to match generate_preset_pass_manager's new default to use 2
instead of 1. This is arguably a breaking API change, but since the
semantics are equivalent with two minor edge cases with implicit behavior
that were a side effect of the level 1 preset pass manager's construction
(which are documented in the release notes) we're ok making it in this
case. Some tests which we're relying on the implicit behavior of
optimization level 1 are updated to explicitly set the optimization
level argument which will retain this behavior.

* Update more tests expecting optimization level 1

* * Set optimization level to 1 in test_approximation_degree.

* Replace use of transpile with specific pass in  HLS tests.

* Set optimization_level=1 in layout-dependent tests.

* Expand upgrade note explanation on benefits of level 2

* Apply Elena's reno suggestions

---------

Co-authored-by: Elena Peña Tapia <epenatap@gmail.com>
Co-authored-by: Elena Peña Tapia <57907331+ElePT@users.noreply.github.com>

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