Make urllib3 optional.

Follow up to #963.

Let's ensure that the urllib3 dependency is optional.

Make sure we don't have it anymore in setup.py.
Make sure it's listed as optional in the REAEDME/homepage.
Make sure that the urllib3.py module passes gracefully on ImportError, and checks the package exists in URLLib3Transport.__init__().

The last point is already covered, unless you have a different implementation in mind?

Ah fantastic!

Have also confirmed that it's not in setup.py, so all we have is...

Docs tweak in the advanced section, noting to make sure urllib3 is installed.
In README.md and doc/index.md update the dependencies listing. (I guess move urllib3 to just above brotlipy as the other optional, and have httpcore with h11, h2 hanging off as subdependancies, like so...

httpcore - The default transport implementation for httpx.
- h11 - HTTP/1.1 support.
- h2 - HTTP/2 support.
certifi - SSL certificates.
chardet - Fallback auto-detection for response encoding.
hstspreload - determines whether IDNA-encoded host should be only accessed via HTTPS.
idna - Internationalized domain name support.
rfc3986 - URL parsing & normalization.
urllib3 - Support for httpx.URLLib3Transport(). (Optional)
brotlipy - Decoding for "brotli" compressed responses. (Optional)

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