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Remove the dead format keyword from Grape::Router::Pattern

`Pattern#initialize` took a `format:` keyword and, in `extract_capture`,
constrained the mustermann `:format` capture with it. But nothing ever
passed a non-nil value: the endpoint stopped passing `format:` when the
vestigial `Grape::Endpoint::Options` `format` member was removed (#2779),
and grape-swagger's helper passes `format: nil`. It was also redundant —
a route's `:format` capture comes from the path suffix built by
`Grape::Path` (`(.json)` for a specific format, `(.:format)` otherwise),
not from the pattern.

Drop the keyword and the dead capture branch. `DEFAULT_CAPTURES` still
lists `format` (the path-derived capture) and `map_str` still serves
`version`, so matching is unchanged. `Grape::Router::Pattern.new(...,
format: …)` now raises `unknown keyword: :format`; corrected the
UPGRADING note that previously described it as an optional keyword.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

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