[core] "Extra" generic for actions, guards, etc.

[davidkpiano]

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This PR adds TExtra, first introduced in #2779. Separating this out so that we can implement model.withActions() and model.withGuards(), as well as future ideas for making machine implementations more type-safe.

    const model = createModel({ foo: 'string' }).withActions<
      { type: 'doThis'; greet: string } | { type: 'doThat' }
    >();

    model.createMachine(
      {},
      {
        actions: {
          doThis: () => {
            /* ... */
          },
          doThat: () => {
            /* ... */
          },
          // @ts-expect-error
          unspecified: () => {
            /* ... */
          }
        }
      }
    );

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[Andarist]

This was somewhat superseded by all of the TAction, TGuard etc work. The model API is also not something that we have in v5.