DOC: remove old LaTeX hack if Sphinx is at 5.0.0 or later (fix #22941) (#22952)

This removes an old LaTeX hack if Sphinx is at 5.0.0+. The hack served to insert a newline after each parameter name before its description and is unneeded as Sphinx 5+ does it (otherwise) and it now causes extra vertical whitespace.

If one day in future NumPy pins Sphinx to be at least 5.0.0, the whole thing will become removable.

Closes #22941

EDIT: this also removes \usepackage{xcolor}. Sphinx for many many years uses xcolor if it is available.

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