Support python 3.12 and misc

[romanngg]

Maintenance:

• Support python 3.12 and drop 3.10
• Remove obsolete type annotations
• Improve type annotations and enable pytype in more places
• Fix some deprecated calls
• Formatting
• Upgrade dependencies

Resolves #202

[codecov-commenter]

Codecov Report

Attention: Patch coverage is 91.56627% with 14 lines in your changes missing coverage. Please review.

Project coverage is 85.05%. Comparing base (e91c80e) to head (a017fab).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
neural_tangents/_src/utils/rules.py	73.91%	6 Missing ⚠️
neural_tangents/_src/empirical.py	94.44%	2 Missing ⚠️
neural_tangents/_src/stax/linear.py	80.00%	2 Missing ⚠️
neural_tangents/_src/utils/typing.py	84.61%	2 Missing ⚠️
neural_tangents/_src/batching.py	88.88%	1 Missing ⚠️
...al_tangents/experimental/empirical_tf/empirical.py	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #205      +/-   ##
==========================================
- Coverage   85.12%   85.05%   -0.07%     
==========================================
  Files          19       19              
  Lines        5175     5151      -24     
==========================================
- Hits         4405     4381      -24     
  Misses        770      770              

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.