tools/replay: rewrite in Python

[adeebshihadeh]

kinda works but it's slower and stutters

we need to add a --benchmark to all our tools to surface this better

• python FrameReader is missing HW accel FrameReader: use HW accel if available #36964

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separate issues hit while working on this

• log file cache is off by default tools: enable log caching by default #36962
• log file cache just keeps growing tools: add LRU eviction for log cache #36959
• performance of old replay is unclear replay: add --benchmark mode #36957
• macOS doesn't support MSGQ and openpilot prefixing msgq: add (janky) macOS support msgq#667
• log migration is super slow
• Route is slow, partially addressed in tools: speed up Route() #36963