module: openthread: align configs with upstream

Change OT_DNS_QUERY_UPSTREAM to OT_DNS_UPSTREAM_QUERY.
Remove unused OT_CHILD_SUPERVISION config.
Added:
CONFIG_OPENTHREAD_THREAD_VERSION_1_3_1 -> OT_THREAD_VERSION_1_3_1
CONFIG_OPENTHREAD_DNS_CLIENT_OVER_TCP -> OT_DNS_CLIENT_OVER_TCP
CONFIG_OPENTHREAD_POWER_SUPPLY -> OT_POWER_SUPPLY

Signed-off-by: Mariusz Poslinski <mariusz.poslinski@nordicsemi.no>