dynbuf: make *addf() not require extra mallocs

... by introducing a printf() function that appends directly into a
dynbuf: Curl_dyn_vprintf(). This avoids the mandatory extra malloc so if
the buffer is already big enough it can just printf directly into it.

Since this less-malloc version requires tthe use of a library internal
printf function, we only provide this version when building libcurl and
not for the dynbuf code that is used when building the curl tool.

Closes #5998

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