feat(sdk-trace-base)!: drop ability to auto-instantiate propagators beyond defaults

[pichlermarc]

Which problem is this PR solving?

It is currently confusing which packages implement auto-configure and to which extent. We currently auto-instantiated propagators based on environment variables in sdk-trace-base.

This PR makes it so that only the default propagators get registered when *TracerProvider#register() is called.
The auto-configuration code moves to @opentelemetry/sdk-node. Dependencies to other propagators are removed from @opentelemetry/sdk-trace-node. #4672

I will follow up later on removing BasicTracerProvider#register() (tracked in #5290)

Fixes #4672
Refs #5290

Type of change

• Breaking change (fix or feature that would cause existing functionality to not work as expected)

How Has This Been Tested?

• Unit tests

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 94.56%. Comparing base (c00f36e) to head (4072001).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5355      +/-   ##
==========================================
+ Coverage   94.54%   94.56%   +0.01%     
==========================================
  Files         318      318              
  Lines        8051     8055       +4     
  Branches     1694     1698       +4     
==========================================
+ Hits         7612     7617       +5     
+ Misses        439      438       -1     

Files with missing lines	Coverage Δ
...imental/packages/opentelemetry-sdk-node/src/sdk.ts	96.03% <100.00%> (+0.01%)	⬆️
...ental/packages/opentelemetry-sdk-node/src/utils.ts	91.37% <100.00%> (+3.14%)	⬆️
...elemetry-sdk-trace-base/src/BasicTracerProvider.ts	95.58% <100.00%> (+0.03%)	⬆️
...telemetry-sdk-trace-node/src/NodeTracerProvider.ts	100.00% <ø> (ø)