Switch config format from YAML to TOML

Replaces gopkg.in/yaml.v3 with github.com/BurntSushi/toml. Updates
struct tags, default config path, Dockerfile CMD, README, and ships
config.example.toml in place of the YAML example. ${ENV_VAR}
expansion still runs on the raw file before parsing, so the behavior
is unchanged.

go.sum

@@ -1,5 +1,7 @@
 filippo.io/edwards25519 v1.2.0 h1:crnVqOiS4jqYleHd9vaKZ+HKtHfllngJIiOpNpoJsjo=
 filippo.io/edwards25519 v1.2.0/go.mod h1:xzAOLCNug/yB62zG1bQ8uziwrIqIuxhctzJT18Q77mc=
+github.com/BurntSushi/toml v1.6.0 h1:dRaEfpa2VI55EwlIW72hMRHdWouJeRF7TPYhI+AUQjk=
+github.com/BurntSushi/toml v1.6.0/go.mod h1:ukJfTF/6rtPPRCnwkur4qwRxa8vTRFBF0uk2lLoLwho=
 github.com/DATA-DOG/go-sqlmock v1.5.2 h1:OcvFkGmslmlZibjAjaHm3L//6LiuBgolP7OputlJIzU=
 github.com/DATA-DOG/go-sqlmock v1.5.2/go.mod h1:88MAG/4G7SMwSE3CeA0ZKzrT5CiOU3OJ+JlNzwDqpNU=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
@@ -41,8 +43,6 @@ golang.org/x/sys v0.44.0 h1:ildZl3J4uzeKP07r2F++Op7E9B29JRUy+a27EibtBTQ=
 golang.org/x/sys v0.44.0/go.mod h1:4GL1E5IUh+htKOUEOaiffhrAeqysfVGipDYzABqnCmw=
 golang.org/x/text v0.37.0 h1:Cqjiwd9eSg8e0QAkyCaQTNHFIIzWtidPahFWR83rTrc=
 golang.org/x/text v0.37.0/go.mod h1:a5sjxXGs9hsn/AJVwuElvCAo9v8QYLzvavO5z2PiM38=
-gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405 h1:yhCVgyC4o1eVCa2tZl7eS0r+SDo693bJlVdllGtEeKM=
-gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0=
 gopkg.in/yaml.v3 v3.0.1 h1:fxVm/GzAzEWqLHuvctI91KS9hhNmmWOoWu0XTYJS7CA=
 gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=
 maunium.net/go/mautrix v0.28.0 h1:vBakLzf8MAdfED3NzAKiMeKQbc3AQ4EAS03NC+TVMXQ=