nspawn: Add support for sysroot pivoting (#5258)

Add a new --pivot-root argument to systemd-nspawn, which specifies a
directory to pivot to / inside the container; while the original / is
pivoted to another specified directory (if provided). This adds
support for booting container images which may contain several bootable
sysroots, as is common with OSTree disk images. When these disk images
are booted on real hardware, ostree-prepare-root is run in conjunction
with sysroot.mount in the initramfs to achieve the same results.