macOS: Avoid deviceinterfaced races during DFU reconnect

During Port DFU-to-DFU re-enumeration, macOS deviceinterfaced daemon can
acquire the USB interface first, making idevicerestore time out waiting
for DFU reconnection.

Add experimental flag: --exclusive-usb that keeps deviceinterfaced from
claiming the USB device for the duration of the restore, by booting it
out or repeatedly terminating it when bootout is denied (SIP on), then
reloading and starting it again on exit.

idevicerestore itself does not need to run as root for this. Only the
launchctl subcommands that manage the system-domain deviceinterfaced
daemon (bootout, bootstrap, kickstart, kill) are elevated individually
via sudo, which may prompt for a password on the controlling terminal.
Read-only queries (print) are run unprivileged. Document how to allow
these specific commands via a scoped sudoers(5) NOPASSWD rule for
unattended use.

Co-authored-by: Nikias Bassen <nikias@gmx.li>

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