Support python 3.12 and misc

[romanngg]

Maintenance:

• Support python 3.12 and drop 3.10
• Remove obsolete type annotations
• Improve type annotations and enable pytype in more places
• Fix some deprecated calls
• Formatting
• Upgrade dependencies

Resolves https://github.com/google/neural-tangents/issues/202

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 91.56627% with 14 lines in your changes missing coverage. Please review.

Project coverage is 85.05%. Comparing base (e91c80e) to head (a017fab). Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
neural_tangents/_src/utils/rules.py	73.91%	6 Missing :warning:
neural_tangents/_src/empirical.py	94.44%	2 Missing :warning:
neural_tangents/_src/stax/linear.py	80.00%	2 Missing :warning:
neural_tangents/_src/utils/typing.py	84.61%	2 Missing :warning:
neural_tangents/_src/batching.py	88.88%	1 Missing :warning:
...al_tangents/experimental/empirical_tf/empirical.py	80.00%	1 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #205 +/- ## ========================================== - Coverage 85.12% 85.05% -0.07% ========================================== Files 19 19 Lines 5175 5151 -24 ========================================== - Hits 4405 4381 -24 Misses 770 770 ```

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