Fix build with boost ASIO 1.87. Support boost 1.66+

[vtnerd]

This should compile with Boost 1.73-1.87. I have only tested on Boost 1.74 and Boost 1.87 (primarily unit tests). I will mark the places where I know changes need to be made for older boost versions. I will clear up all such errors by manually downloading Boost 1.66 and testing.

One problem I have with supporting Boost 1.66-1.69 is that most types require an io_context object, whereas Boost 1.70+ have relaxed this requirement to an executor object. I will show an example of where it matters; it will be easy to break older Boost versions unintentionally.

EDIT:
This is currently marked as a draft, because the depends build will fail until #9162 gets merged (which is also marked as draft).

[tobtoht]

(This needs #9162 to pass depends CI. I will undraft that PR after the next round of merges.)

[vtnerd]

The latest force push should work with Boost 1.66-1.87. Something funky happened with the tests, so I may push a dummy change later to see what happens.

[tobtoht]

https://github.com/tobtoht/monero/actions/runs/12390979989/job/34587144842#step:5:1281

Looks like boost::asio::io_service is also used in src/device_trezor/trezor.

[vtnerd]

Fore pushed some changes:

• Reverted changes to query code, they are basically same style with new interface
• Switched to io_context_t as @jeffro256 suggested
• Fixed Trezor build.

[vtnerd]

Force pushed twice with updates:

• Added a missing include, but it doesn't matter as the depends builds is using Boost 1.64 which won't work
• Reverted some whitespace changes that were made when making the patch.

[vtnerd]

Force pushed an include fix.

[vtnerd]

This patch looks ready. The depends CI will all fail until #9162 gets merged. I will leave as draft for now for that reason.

[selsta]

README needs an update to indicate the new minimum version