Remove unnecessary references to slavery

The horrible effects of human slavery continue to impact society.  The
casual use of the term "slave" in computer software is an unnecessary
reference to a painful human experience.

This commit removes all possible references to the term "slave".

Implementation notes:

The zpool.d/slaves script is renamed to dm-deps, which uses the same
terminology as `dmsetup deps`.

References to the `/sys/class/block/$dev/slaves` directory remain.  This
directory name is determined by the Linux kernel.  Although
`dmsetup deps` provides the same information, it unfortunately requires
elevated privileges, whereas the `/sys/...` directory is world-readable.

Reviewed-by: Brian Behlendorf <[email protected]>
Reviewed-by: Ryan Moeller <[email protected]>
Signed-off-by: Matthew Ahrens <[email protected]>
Closes #10435 

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