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chore(docs): add navigation configuration

The documentation in this repository is added to the overall npm
documentation at https://docs.npmjs.com/, which includes both the
documentation for the public registry and the CLI.

The documentation site itself also has a navigational hierarchy;
since the content is included from the CLI, we also want to ensure
that the navigation for that content lives in this repository.

This means that this repository is the source of truth for all of the
CLI documentation, and we do not need to update two places when we
add, edit, or remove CLI documentation.  It all lives here.

This also teaches the documentation rendering script to identify when
the navigation configuration (nav.yml) is missing new pages that were
recently added or retains old pages that have recently been deleted.

PR-URL: https://github.com/npm/cli/pull/2775
Credit: @ethomson
Close: #2775
Reviewed-by: @wraithgar

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