Major refactoring and TYPO3 10 compatibility

[!!!][FEATURE] Auth-Service now uses AbstractAuthenticationService
[!!!][FEATURE] Old Dev-Log has been removed and a custom log bases on TYPO3 logging API has been introduced
[!!!][TASK] Migrate sf_yubikey:checkyubikeyotp to symfony console
[TASK] Moved CI from Travis CI to GitHub Actions
[TASK] Make v10 tests use typo3/testing-framework ^6.1
[TASK] Cleanup ext_emconf.php