refactor(manager/cargo): use `zod` to parse manifest/config (#31260)

lib/modules/manager/cargo/__snapshots__/extract.spec.ts.snap

lib/modules/manager/cargo/extract.spec.ts

lib/modules/manager/cargo/extract.ts

lib/modules/manager/cargo/schema.ts

lib/modules/manager/cargo/types.ts

lib/modules/manager/poetry/schema.ts

lib/util/schema-utils.ts