fix: improve support for Python 3.11-dev (#3368)

* ci: support Python 3.11-dev

Also update 3.10 to final, better PyPy usage

* fix: use PyFrame_GetCode on Python 3.9+

* ci: some bitiness of pypy not supported on win

* chore: update CMake support to 3.22rc1 to quiet warning

* fix: use dev version of py to fix Py 3.11

* tests: print proper Eigen version

* ci: include pypy2, not sure why

* ci: avoid running on Python 3.11 for now

* ci: fix runs

* ci: simpler PyPy usage, drop unmaintained scipy + pypy index

* ci: only binary numpy, wait on pypy 3.8

* refactor: address review