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feat: upgrade from swagger 2 to openapi 3

* (rest) Remove GET /swagger.json and GET /swagger.yaml
* (all packages) Upgrade packages from using @loopback/openapi-v2 to @loopback/openapi-v3
* (all pakcages) Upgrade packages from using @loopback/openapi-spec to @loopback/openapi-v3-types
* (testlab) Replace Swagger validator by OAI3 validator provided by swagger2openapi

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