requirements: update sphinx-autodoc-typehints requirement from <1.16.0 to <3.1.0 #9978

Job	Run time
build (3.8, x64, ubuntu)	1h 21m 51s
build (3.8, x64, windows)	1h 24m 11s
build (3.11, x64, ubuntu)	1h 22m 33s
build (3.11, x64, macos)	32m 14s
build (3.11, x64, windows)	1h 26m 33s
build (3.12, x64, ubuntu)	1h 23m 53s
build (3.12, x64, macos)	29m 21s
build (3.12, x64, windows)	1h 22m 48s
build (3.9, macos, --cov=psyneulink)	40m 45s
build (3.9, ubuntu, --forked -m "not llvm")	36m 25s
build (3.9, x86, windows)	1h 28m 8s
build (3.10, ubuntu, --fp-precision=fp32)	1h 23m 21s
build (3.10, macos, -m benchmark --benchmark-enable --benchmark-only --benchmark-min-rounds=2 --b...	26m 46s
build (3.8, macos, min)	30m 56s
	14h 29m 45s

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