Support MSC3916 by adding unstable media endpoints to `_matrix/client` (#17213)

[MSC3916](https://github.com/matrix-org/matrix-spec-proposals/blob/rav/authentication-for-media/proposals/3916-authentication-for-media.md)
adds new media endpoints under `_matrix/client`. This PR adds the
`/preview_url`, `/config`, and `/thumbnail` endpoints. `/download` will
be added in a follow-up PR once the work for the federation `/download`
endpoint is complete (see
https://github.com/element-hq/synapse/pull/17172).

Should be reviewable commit-by-commit.