runtime: add heap lock assertions

Some functions that required holding the heap lock _or_ world stop have
been simplified to simply requiring the heap lock. This is conceptually
simpler and taking the heap lock during world stop is guaranteed to not
contend. This was only done on functions already called on the
systemstack to avoid too many extra systemstack calls in GC.

Updates #40677

Change-Id: I15aa1dadcdd1a81aac3d2a9ecad6e7d0377befdc
Reviewed-on: https://go-review.googlesource.com/c/go/+/250262


Run-TryBot: Michael Pratt <mpratt@google.com>
TryBot-Result: Go Bot <gobot@golang.org>
Reviewed-by: Austin Clements <austin@google.com>
Trust: Michael Pratt <mpratt@google.com>