Update to xeus 5

[anutosh491]

• [ ] Update xeus to xeus 5
• [ ] Update xeus-zmq to 3
• [ ] Pin nljson to 3.11.3
• [ ] Drop dependency on xtl and cppzmq
• [ ] Update the Ci to check building of kernels with -DWITH_XEUS flag and check for a working LPython kernel

[anutosh491]

The subsequent PRs fro, LFortran are the following 1) https://github.com/lfortran/lfortran/pull/4290 2) https://github.com/lfortran/lfortran/pull/4328