Update Router's recognize step to use async/await #62994
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This is effectively a revert of 72e6a94.
Debugging the recognize stage is considerably easier with async/await
stacks compared to rxjs. This also improves maintainability and is a
better 1:1 with server-side logic that has been implemented to match
and can be more easily kept in sync.
BREAKING CHANGE: Router navigations may take several additional
microtasks to complete. Tests have been found to often be highly
dependent on the exact timing of navigation completions with respect to
the microtask queue. The most common fix for tests is to ensure all
navigations have been completed before making assertions.