Removes the old top-level modes VPS and VMSAFE, making VMAP (aka
regular code mode client interface) the default and removing
references to it as well.

Removes conditional docs for the other modes spread throughout our
documentation.

Removes test suite builds for these modes, including the vps build
from our GA CI suite.

Updates various references.

This breaks the CI due to removed code containing tabs (in comments in
CMake_doxyfile.cmake) and trailing spaces (a .fig file).  In the PR I temporarily
disabled those checks and confirmed all tests were green.

Issue: #2971