zfs_dbgmsg_print: make FreeBSD and Linux consistent

FreeBSD was using fprintf(), which might not be signal-safe. Meanwhile,
Linux's locking did not cover the header output. This two quirks are
unrelated, but both have the same response: be like the other one. So
with this commit, both functions are the same except for the names of
their lock and list variables.

Sponsored-by: Klara, Inc.
Sponsored-by: Wasabi Technology, Inc.
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Rob Norris <rob.norris@klarasystems.com>
Closes #16181