fix(docs): Fix links and versions

[lucasssvaz]

Description of Change

This pull request introduces several updates to the documentation system, focusing on adding variable substitution support, improving documentation processes, and updating dependency requirements. The most significant changes include enabling dynamic version substitution in documentation, updating links for better compatibility, and enhancing contributor guidance.

Enhancements to Documentation System:

• Added rst_prolog in docs/conf_common.py to enable variable substitution for |version| and |idf_version| throughout the documentation. This allows dynamic updates of version information.
• Included the sphinx_substitution_extensions extension in docs/conf_common.py to support the new substitution functionality. This extension allows for more flexibility when compared to the default Sphinx substitution (for example substitutions inside code blocks).

Improvements to Documentation Content:

• Replaced hardcoded version references with |version| in docs/en/esp-idf_component.rst for better maintainability. This affects notes and example commands.
• Fixed broken internal documentation links to use .html extensions.
• Added a note in docs/en/index.rst specifying that the documentation is valid for the current |version| and |idf_version|.

Contributor Guidance Enhancements:

• Clarified the need for virtual environments when installing dependencies in docs/en/guides/docs_contributing.rst.
• Improved guidance on Visual Studio Code extensions by consolidating recommendations and adding a link to the reStructuredText Pack.

Dependency Updates:

• Updated docs/requirements.txt to include missing sphinx==4.5.0 and Sphinx-Substitution-Extensions==2022.2.16 to support the new substitution functionality.

Tests scenarios

Tested locally

Related links

Closes #11484

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[pedrominatel]

Thank you @lucasssvaz for this improvement!!
I've only one small suggestion, otherwise, LGTM.