[docs] fix outdated and missing apt packages in QEMU Linux quick start

The dependency list in the QEMU (Ubuntu) quick start no longer works on
current Debian/Ubuntu releases:

- gdb-arm-none-eabi no longer exists (dropped since Debian 11 /
  Ubuntu 22.04); gdb-multiarch replaces it
- the qemu meta-package has been split up and can no longer be installed
- libncurses5-dev has been removed; libncurses-dev replaces it
- libstdc++-arm-none-eabi-newlib was missing, so linking fails with
  "cannot find -lsupc++", which does not point at the missing package
- kconfiglib was not mentioned at all, although scons --menuconfig needs
  it; python3-kconfiglib is packaged, and pip install kconfiglib is
  rejected by PEP 668 on recent releases

Merge the eleven single-package commands into one, add a table mapping
the old package names to the current ones, and note the kconfiglib
requirement where menuconfig is first used.

Verified with apt-get -s install on Debian 13.

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