restructure 0.16 io notes from single file to folder
split io.md into io/ with four files based on reading the official
std library docs and devlog:
- concurrency.md: async/concurrent, Future, Group, Select, Queue
- synchronization.md: Mutex, Condition, CancelProtection, cancellation
- patterns.md: InitOptions, backend selection, debug_io, lifecycle
update relay-integration.md with Io boundary table showing which
pipeline stages use io.concurrent vs std.Thread.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>