ztest: dmu_tx_assign() gets ENOSPC in spa_vdev_remove_thread()

When running zloop, we occasionally see the following crash:

    dmu_tx_assign(tx, TXG_WAIT) == 0 (0x1c == 0)
    ASSERT at ../../module/zfs/vdev_removal.c:1507:spa_vdev_remove_thread()/sbin/ztest(+0x89c3)[0x55faf567b9c3]

The error value 0x1c is ENOSPC.

The transaction used by spa_vdev_remove_thread() should not be able to
fail due to being out of space. i.e. we should not call
dmu_tx_hold_space(). This will allow the removal thread to schedule its
work even when the pool is low on space. The "slop space" will provide
enough free space to sync out the txg.

Reviewed-by: Igor Kozhukhov <igor@dilos.org>
Reviewed-by: Paul Dagnelie <pcd@delphix.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Matthew Ahrens <mahrens@delphix.com>
External-issue: DLPX-37853
Closes #8889