feat(task): support object notation, remove support for JSDocs (#26886)

This commit changes three aspects of `deno task`:
1. Tasks can now be written using object notation like so:
```jsonc
{
  "tasks": {
     "foo": "deno run foo.js",
     "bar": {
        "command": "deno run bar.js"
     }
}
```
2. Support for comments for tasks is now removed. Comments above tasks
will
no longer be printed when running `deno task`.
3. Tasks written using object notation can have "description" field that
replaces
support for comments above tasks:
```jsonc
{
  "tasks": {
     "bar": {
        "description": "This is a bar task"
        "command": "deno run bar.js"
     }
}
```
```
$ deno task
Available tasks:
- bar
    // This is a bar task
    deno run bar.js
```

Pulled most of the changes from
https://github.com/denoland/deno/pull/26467 to
support "dependencies" in tasks. Additionally some cleanup was performed
to make code easier to read.

---------

Co-authored-by: David Sherret <dsherret@gmail.com>

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