Remove stdio's implicit init and require client.connect universally

To minimize user impact while avoiding a breaking change, proceeding in the following steps looks appropriate:

Support only the addition of the client.connect method Add client-level connect handshake to stdio transport #336
Show a deprecation warning if client.connect has not been called in advance Warn on implicit stdio initialization #338
Raise an error if client.connect has not been called in advance

It's my understanding that #327 does not implement connect for the stdio client. I've opened #336 as Phase 1.

Add client-level connect handshake to stdio transport

I opened #427 to release this earlier than planned, so it can be included as one of the breaking changes before the v1 release.

Require calling `MCP::Client#connect` before sending requests on stdi…

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