test(ci): Add CI for minimum supported dependency versions

[jhamman]

This builds on #2418, adding another env for the minimum supported version of all required dependencies.

If we follow spec 0000, we would support older versions of dependencies going back 2 years (3 years for Python).

Interestingly, trying this for all our dependencies turned up a few things that are worth looking at:

1. We need numcodecs 0.13 (instead of 0.11) for the zstd codec
2. We need typing extensions 4.5 for @deprecated and 4.6 for Buffer

At this point, I don't see any major issue with bumping these dependencies but its nice to know what we actually support.

[d-v-b]

Thanks for doing this!