requirements: update sphinx-autodoc-typehints requirement from <1.16.0 to <3.1.0 #9941

Job	Run time
build (3.7, x64, ubuntu)	56m 15s
build (3.7, x64, windows)	53m 37s
build (3.11, x64, ubuntu)	1h 26m 28s
build (3.11, x64, macos)	24m 58s
build (3.11, x64, windows)	1h 26m 46s
build (3.12, x64, ubuntu)	1h 24m 15s
build (3.12, x64, macos)	23m 37s
build (3.12, x64, windows)	1h 22m 35s
build (3.9, macos, --cov=psyneulink)	40m 47s
build (3.9, ubuntu, --forked -m "not llvm")	34m 4s
build (3.8, x86, windows)	1h 28m 14s
build (3.10, ubuntu, --fp-precision=fp32)	1h 23m 2s
build (3.10, macos, -m benchmark --benchmark-enable --benchmark-only --benchmark-min-rounds=2 --b...	23m 29s
build (3.7, x64, ubuntu, min)	56m 30s
build (3.8, macos)	29m 24s
	14h 14m 1s

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