panic in removal_remap test on 4K devices

If the zfs_remove_max_segment tunable is changed to be not a multiple of
the sector size, then the device removal code will malfunction and try
to create mappings that are smaller than one sector, leading to a panic.

On debug bits this assertion will fail in spa_vdev_copy_segment():

    ASSERT3U(DVA_GET_ASIZE(&dst), ==, size);

On nondebug, the system panics with a stack like:

    metaslab_free_concrete()
    metaslab_free_impl()
    metaslab_free_impl_cb()
    vdev_indirect_remap()
    free_from_removing_vdev()
    metaslab_free_impl()
    metaslab_free_dva()
    metaslab_free()

Fortunately, the default for zfs_remove_max_segment is 1MB, so this
can't occur by default. We hit it during this test because
removal_remap.ksh changes zfs_remove_max_segment to 1KB. When testing on
4KB-sector disks, we hit the bug.

This change makes the zfs_remove_max_segment tunable more robust,
automatically rounding it up to a multiple of the sector size. We also
turn some key assertions into VERIFY's so that similar bugs would be
caught before they are encoded on disk (and thus avoid a
panic-reboot-loop).

Reviewed-by: Sean Eric Fagan <sef@ixsystems.com>
Reviewed-by: Pavel Zakharov <pavel.zakharov@delphix.com>
Reviewed-by: Serapheim Dimitropoulos <serapheim@delphix.com>
Reviewed-by: Sebastien Roy <sebastien.roy@delphix.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Matthew Ahrens <mahrens@delphix.com>
External-issue: DLPX-61342
Closes #8893