Add readthedocs v2 config file, update to py38, and fix requirements #3745
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RTD changed things a few months back and now require a new v2 config file: https://docs.readthedocs.io/en/stable/config-file/v2.html
This adds the new file and fixes a jinja dependency issue in requirements-docs.txt for py3.8; we need to stay <3.1 per readthedocs/readthedocs.org#9038
We should review the requirements, this may be instead improved by a bump to many of the other requirements-docs but this just gets builds passing again as a first step.
verified in a personal rtd instance https://readthedocs.org/projects/test-jfong-project/builds/22496330/