Add logic check for define-fun(s)-rec (#4577)

Add logic check for define-fun(s)-rec (#4577)

This commit adds a logic check for `define-fun-rec`/`define-funs-rec` at
the level of the new API that checks whether the logic is quantified and
includes UF. To make sure that the parser actually executes that check,
this commit converts the `DefineFunctionRecCommand` command to use the
new API instead of the old one. This temporarily breaks the `exportTo`
functionality for `DefineFunctionRecCommand` but this is not currently
used within the CVC4 code base (and it seems unlikely that users use
commands).