On-Chain pDAO Replacement

We removed implementation specific details from the RPIP per guidance from @Valdorff so the RPIP only describes the desired outcomes and these outcomes match the current implementation. The research doc referred to in the RPIP is a little bit out of date though as we ran into some limitations and made some improvements along the way.

This new document is much more detailed and correctly describes the implementation as it stands today: https://github.com/rocket-pool/rocketpool-research/blob/houston/Protocol%20DAO/pdao-prop-challenge-spec.md

I will submit a PR to update the RPIP to refer to this document instead.

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