[engine] Remove ghost parameter from `Proofview.Goal.t`

In current code, `Proofview.Goal.t` uses a phantom type to indicate
whether the goal was properly substituted wrt current `evar_map` or
not.

After the introduction of `EConstr`, this distinction should have
become unnecessary, thus we remove the phantom parameter from
`'a Proofview.Goal.t`. This may introduce some minor incompatibilities
at the typing level. Code-wise, things should remain the same.

We thus deprecate `assume`. In a next commit, we will remove
normalization as much as possible from the code.

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