Add libzutil for libzfs or libzpool consumers

Adds a libzutil for utility functions that are common to libzfs and
libzpool consumers (most of what was in libzfs_import.c).  This
removes the need for utilities to link against both libzpool and
libzfs.

Reviewed-by: Matthew Ahrens <[email protected]>
Reviewed-by: Brian Behlendorf <[email protected]>
Signed-off-by: Don Brady <[email protected]>
Closes #8050 

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