doc: Update sphinx extensions to the latest versions (#7737) #2191

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Job	Run time
ubuntu:14.04	3m 35s
ubuntu:16.04	3m 26s
ubuntu:18.04	4m 16s
ubuntu:20.04	3m 35s
ubuntu:22.04	3m 12s
ubuntu:23.04	4m 28s
debian:10	3m 34s
debian:11	4m 2s
debian:12	4m 10s
debian:sid	4m 53s
	39m 11s