vdev_disk: add module parameter to select BIO submission method

This makes the submission method selectable at module load time via the
zfs_vdev_disk_classic parameter, allowing this change to be backported
to 2.2 safely, and disabled in favour of the "classic" submission method
if new problems come up.

Reviewed-by: Alexander Motin <mav@FreeBSD.org>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Rob Norris <rob.norris@klarasystems.com>
Sponsored-by: Klara, Inc.
Sponsored-by: Wasabi Technology, Inc.
Closes #15533
Closes #15588
(cherry picked from commit df2169d141aadc0c2cc728c5c5261d6f5c2a27f7)