doc: Update external URLs

Update the links to Zephyr documentation to point to current v3.5.0 tag.
Reword surrounding comments when they have been resolved by using the
newer version of Zephyr.

Update the Autoware documentation link to point to an older, more
straightforward version to follow.

Update links that lead to a re-direct to a new URL.

Signed-off-by: Ambroise Vincent <ambroise.vincent@arm.com>