Refactor parent dataset handling in libzfs zfs_rename()

For recursive renaming, simplify the code by moving `zhrp` and
`parentname` to inner scope. `zhrp` is only used to test existence
of a parent dataset for recursive dataset dir scan since ba6a24026c.

Reviewed by: Brian Behlendorf <[email protected]>
Reviewed-by: Richard Laager <[email protected]>
Reviewed-by: Giuseppe Di Natale <[email protected]>
Signed-off-by: Tomohiro Kusumi <[email protected]>
Closes #8815 

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