This patch contains a handful of small tweaks needed to make the libraries in
the `semmc` repo build with GHC 9.6:

* I have disambiguated a use of `Data.Parameterized.NatRepr.withKnownNat` in
  `semmc-aarch32` to avoid clashing with a newly exported function of the same
  name in `GHC.TypeNats`.
* I have bumped `semmc`'s upper version bounds on `mtl` and `transformers` to
  allow building with `mtl-2.3.*` and `transformers-0.6.*`, which are bundled
  with GHC 9.6.
* I have bumped the following submodules to bring in GHC 9.6–related changes:
  * `asl-translator`: GaloisInc/asl-translator#53
  * `crucible`: GaloisInc/crucible#1102
  * `elf-edit`: GaloisInc/elf-edit#38
  * `llvm-pretty`: GaloisInc/llvm-pretty#112
  * `what4`: GaloisInc/what4#235

As of GHC 8.6, `TypeInType` is simply an alias for `DataKinds` + `PolyKinds`.
And as of GHC 9.6, `TypeInType` is deprecated. Let's just remove our use of
`TypeInType` to avoid deprecation warnings.

GHC's pattern-match coverage checker continues to become smarter, and it is now
smart enough to recognize that the `error` case in `taggedExprImmediate` is
unreachable. I've rewritten this function slightly to make this more obvious to
the coverage checker and avoid a warning.