runtime: set up TLS without cgo on darwin/arm64

Currently, on darwin/arm64 we set up TLS using cgo. TLS is not
set for pure Go programs. As we use libc for syscalls on darwin,
we need to save the G register before the libc call. Otherwise it
is not signal-safe, as a signal may land during the execution of
a libc function, where the G register may be clobbered.

This CL initializes TLS in Go, by calling the pthread functions
directly without cgo. This makes it possible to save the G
register to TLS in pure Go programs (done in a later CL).

Inspired by Elias's CL 209197. Write the logic in Go instead of
assembly.

Updates #38485, #35853.

Change-Id: I257ba2a411ad387b2f4d50d10129d37fec7a226e
Reviewed-on: https://go-review.googlesource.com/c/go/+/265118
Trust: Cherry Zhang <cherryyz@google.com>
Trust: Elias Naur <mail@eliasnaur.com>
Run-TryBot: Cherry Zhang <cherryyz@google.com>
TryBot-Result: Go Bot <gobot@golang.org>
Reviewed-by: Ian Lance Taylor <iant@golang.org>

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