Clean up the existing Navigator API. (#15718)

This is not a grand refactor yet, it's just cleaning up what we have
already, so that people who keep using this API (e.g. dialogs) have
something coherent to deal with.

The major changes are that Navigator and NavigatorState have the same
API now, that most of the examples use `<void>` instead of `<Null>`,
that the navigator observer can see replaces, and that the `settings`
is moved from ModalRoute to Route. I also cleaned up some of the API
documentation.