ENH: adding async mode to IRSA TAP based queries

[bsipocz]

Currently query_tap and query_region has the new async_mode bool kwarg.

I was testing with the query listed in astropy/pyvo#629 which times out with the sync mode, but works as expected and fast! with async. I don't really understand why this latter behaviour, but it doesn't matter much either as we leave it to the user to decide which mode to use rather than building in a heuristic in astroquery.

Closes #3143

Prior discussion about changing the API approach from the duplication of methods and favouring a keyword based future: #2598

[codecov]

Codecov Report

Attention: Patch coverage is 16.66667% with 5 lines in your changes missing coverage. Please review.

Project coverage is 68.34%. Comparing base (3e9ff61) to head (5fa6406).
Report is 4 commits behind head on main.

Files with missing lines	Patch %	Lines
astroquery/ipac/irsa/core.py	16.66%	5 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3201      +/-   ##
==========================================
- Coverage   68.34%   68.34%   -0.01%     
==========================================
  Files         231      231              
  Lines       19190    19192       +2     
==========================================
  Hits        13116    13116              
- Misses       6074     6076       +2     

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