[dns-client] track limited query (one question) servers

[abtink]

This commit updates Dns::Client to remember servers/resolvers that are known to have trouble with multiple-question queries. This information is learned from earlier interactions with the server.

When ResolveService() is requested, if the user explicitly requests "optimize" service mode, the request is honored. Otherwise, if "optimize" service mode is chosen from the default configuration and the DNS server is known to have trouble with multiple-question queries, "separate" service mode is used instead.

This commit also updates the test_dns_client.cpp unit test to validate the newly added behavior.

[size-report]

Size Report of OpenThread

Merging #10403 into main(4e8f3c0).

name	branch	text	data	bss	total
ot-cli-ftd	main	466456	856	66332	533644
	#10403	466728	856	66380	533964
	+/-	+272	0	+48	+320
ot-ncp-ftd	main	435476	760	61544	497780
	#10403	435716	760	61592	498068
	+/-	+240	0	+48	+288
libopenthread-ftd.a	main	235701	95	40278	276074
	#10403	235973	95	40326	276394
	+/-	+272	0	+48	+320
libopenthread-cli-ftd.a	main	57561	0	8075	65636
	#10403	57561	0	8075	65636
	+/-	0	0	0	0
libopenthread-ncp-ftd.a	main	31947	0	5916	37863
	#10403	31947	0	5916	37863
	+/-	0	0	0	0
ot-cli-mtd	main	364568	760	51196	416524
	#10403	364936	760	51244	416940
	+/-	+368	0	+48	+416
ot-ncp-mtd	main	347188	760	46424	394372
	#10403	347524	760	46472	394756
	+/-	+336	0	+48	+384
libopenthread-mtd.a	main	158006	0	25158	183164
	#10403	158356	0	25206	183562
	+/-	+350	0	+48	+398
libopenthread-cli-mtd.a	main	39776	0	8059	47835
	#10403	39776	0	8059	47835
	+/-	0	0	0	0
libopenthread-ncp-mtd.a	main	24827	0	5916	30743
	#10403	24827	0	5916	30743
	+/-	0	0	0	0
ot-cli-ftd-br	main	550312	864	131172	682348
	#10403	550648	864	131220	682732
	+/-	+336	0	+48	+384
libopenthread-ftd-br.a	main	324019	100	105094	429213
	#10403	324367	100	105142	429609
	+/-	+348	0	+48	+396
libopenthread-cli-ftd-br.a	main	71459	0	8099	79558
	#10403	71459	0	8099	79558
	+/-	0	0	0	0
ot-rcp	main	62280	564	20604	83448
	#10403	62280	564	20604	83448
	+/-	0	0	0	0
libopenthread-rcp.a	main	9554	0	5052	14606
	#10403	9554	0	5052	14606
	+/-	0	0	0	0
libopenthread-radio.a	main	19042	0	214	19256
	#10403	19042	0	214	19256
	+/-	0	0	0	0