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docs: Update sphinx version to 5.0

Ryan Roberts requested to merge ryarob01/rtd-dependencies-update into main

ReadTheDocs has started complaining that the Sphinx version (previously 4.5.0) is not compatible. So let's upgrade to 5.0 to fix that.

Sphinx version error: The sphinxcontrib.applehelp extension used by this project needs at least Sphinx v5.0; it therefore cannot be built with this version.

Signed-off-by: Ryan Roberts ryan.roberts@arm.com

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