Better NodeId/ExpandedNodeId built in types handling

[mregen]

Proposed changes

• A NodeId string can be assigned to a NodeId and is automatically parsed. However, if the string contains a "nsu=" it is considered a string type NodeId instead of decoding the namespaceUri. To avoid this error in the code an ArgumentException is thrown to uncover these coding errors. Such a variable needs to be an ExpandedNodeId to be decoded correctly.
• Breaking change: To reduce coding errors the user group decided to throw also on a constructor call which does not contain a nodeid type prefix. e.g. new NodeId("Testnode"). If somebody wants a string NodeId in Namespace 0 then call the constructor new NodeId("TestNode", 0)
• Implement IEquatable/IEquatable
• Tests to ensure .Distinct treats all Null NodeIds as identical.
• Unit tests for constructor behavior.

Types of changes

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• Bugfix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which adds functionality)
• Test enhancement (non-breaking change to increase test coverage)
• Breaking change (fix or feature that would cause existing functionality to not work as expected, requires version increase of Nuget packages)
• Documentation Update (if none of the other choices apply)

Checklist

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• I have read the CONTRIBUTING doc.
• I have signed the CLA.
• I ran tests locally with my changes, all passed.
• I fixed all failing tests in the CI pipelines.
• I fixed all introduced issues with CodeQL and LGTM.
• I have added tests that prove my fix is effective or that my feature works and increased code coverage.
• I have added necessary documentation (if appropriate).
• Any dependent changes have been merged and published in downstream modules.

Further comments

If this is a relatively large or complex change, kick off the discussion by explaining why you chose the solution you did and what alternatives you considered, etc...

[mregen]

May be related: #2168

[mregen]

The NodeId parser throws ServiceResultException on error, should it be rather ArgumentException?

[mregen]

feedback from code review in biweekly meeting

[codecov]

Codecov Report

Merging #2230 (f62e1ed) into master (04cd9bc) will increase coverage by 0.19%.
The diff coverage is 63.94%.

@@            Coverage Diff             @@
##           master    #2230      +/-   ##
==========================================
+ Coverage   58.29%   58.49%   +0.19%     
==========================================
  Files         325      326       +1     
  Lines       62254    62292      +38     
==========================================
+ Hits        36292    36438     +146     
+ Misses      25962    25854     -108     

Files Changed	Coverage Δ
...tack/Opc.Ua.Core/Types/BuiltIn/NodeIdDictionary.cs	56.44% <56.44%> (ø)
Stack/Opc.Ua.Core/Types/BuiltIn/ExpandedNodeId.cs	74.07% <83.33%> (+6.24%)	⬆️
Stack/Opc.Ua.Core/Types/BuiltIn/NodeId.cs	81.00% <95.00%> (+12.86%)	⬆️

... and 17 files with indirect coverage changes