Use `multiprocessing` `start_method` `"forkserver"` (#4306)

* Use `multiprocessing` `start_method` `"forkserver"`

Alternative to PR #4305

* Add link to comment under PR #4105

* Unconditionally `pytest.skip("DEADLOCK")` for PyPy Windows

* Remove `SKIP_IF_DEADLOCK` entirely, for simplicity. Hopefully this PR will resolve the deadlocks for good.

* Add "In a nutshell" comment, in response to request by @EricCousineau-TRI