networkd: move event loop handling out of the manager (#4723)

This will allow us to have several managers sharing an event loop
and running in parallel, as if they were running in separate processes.

The long term-aim is to allow networkd to be split into separate
processes, so restructure the code to make this simpler.

For now we drop the exit-on-idle logic, as this was anyway severely
restricted at the moment. Once split, we will revisit this as it may
then make more sense again.