Fix functional tests and docs generation

First, fix test_help(). A commit[1], which first appeared in Python
3.10, changes the output of the help feature of argparse. Options used
to be in a section named "Optional arguments:", and they are now in a
section named "Options:".

Second, tox 4 changes the behaviour of tox, and
{toxinidir}/requirements.txt is no longer installed automagically in the
docs virtual environment. This causes autodoc to fail on some imports.
We explicitely add {toxinidir}/requirements.txt to the list of
dependencies to fix this issue.

These issues should be fixed in separate patches, but since they both
block the CI, they depend on each other.

[1] https://github.com/python/cpython/pull/23858

Change-Id: Ia7866390b31f469bdea95624325a13aaf45a496e
Closes-Bug: #2002566

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