gh-112606: Use pthread_cond_timedwait_relative_np() in parking_lot.c when available (#112616)

Add a configure define for HAVE_PTHREAD_COND_TIMEDWAIT_RELATIVE_NP and
replaces pthread_cond_timedwait() with pthread_cond_timedwait_relative_np()
for relative time when supported in semaphore waiting logic.