Connect the relevance manager to TheoryEngine and use it in non-linear arithmetic...

Connect the relevance manager to TheoryEngine and use it in non-linear arithmetic (#4930)

This PR activates the use of the relevance manager in TheoryEngine and makes use of it (via Valuation) in the non-linear extension in arith. It removes a deprecated hack (addTautology) for doing this.

This addresses CVC4/cvc4-projects#113.

Note that the best method for relevance is interleaving, where roughly you gain on SMT-LIB:

QF_NIA: +484-53 unsat +792-440 sat
QF_NRA: +32-19 unsat +57-23 sat
However, this PR does not (yet) enable this method by default.

Note that more work is necessary to determine which lemmas require NEEDS_JUSTIFY, this PR identifies 2 cases of lemmas that need justification (skolemization and strings reductions). Regardless, the use of the relevance manager is limited to non-linear arithmetic for now, which is only able to answer "sat" when only arithmetic is present in assertions.