Use KernelAbstractions.jl for collocation

[ErikQQY]

Before this PR:

julia> @benchmark solve(prob, MIRK4(), dt = 0.05)
BenchmarkTools.Trial: 3415 samples with 1 evaluation per sample.
 Range (min … max):  1.302 ms …   7.713 ms  ┊ GC (min … max): 0.00% … 81.36%
 Time  (median):     1.320 ms               ┊ GC (median):    0.00%
 Time  (mean ± σ):   1.464 ms ± 886.647 μs  ┊ GC (mean ± σ):  9.26% ± 12.18%

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  1.3 ms       Histogram: log(frequency) by time      7.17 ms <

 Memory estimate: 2.32 MiB, allocs estimate: 52521.

After this PR:

julia> @benchmark solve(prob, MIRK4(), dt = 0.05)
BenchmarkTools.Trial: 4596 samples with 1 evaluation per sample.
 Range (min … max):  975.709 μs …   5.862 ms  ┊ GC (min … max): 0.00% … 80.19%
 Time  (median):       1.035 ms               ┊ GC (median):    0.00%
 Time  (mean ± σ):     1.088 ms ± 280.438 μs  ┊ GC (mean ± σ):  4.18% ±  9.89%

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  976 μs        Histogram: log(frequency) by time       2.63 ms <

 Memory estimate: 1.09 MiB, allocs estimate: 7131.

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Benchmark Results (Julia v1.11)

Time benchmarks

	master	4148d99...	master / 4148d99...
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK2()	0.572 ± 0.009 s	0.575 ± 0.0077 s	0.994 ± 0.021
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK3()	12 ± 0.16 ms	12 ± 0.17 ms	1 ± 0.02
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK4()	2.64 ± 0.06 ms	2.67 ± 0.06 ms	0.988 ± 0.032
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK5()	3.16 ± 0.077 ms	3.17 ± 0.092 ms	0.997 ± 0.038
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK6()	1.52 ± 0.033 ms	1.52 ± 0.043 ms	1 ± 0.035
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = false)	1.49 ± 0.044 ms	1.49 ± 0.048 ms	1 ± 0.044
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = true)	3.07 ± 0.11 ms	3.08 ± 0.1 ms	0.998 ± 0.048
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0375 ± 0.0025 s	0.0385 ± 0.0025 s	0.974 ± 0.09
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.0577 ± 0.0014 s	0.0588 ± 0.0027 s	0.98 ± 0.051
Simple Pendulum/IIP/Shooting(Tsit5())	0.173 ± 0.071 ms	0.176 ± 0.072 ms	0.986 ± 0.57
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK2()	0.698 ± 0.0082 s	0.702 ± 0.011 s	0.995 ± 0.02
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK3()	15.1 ± 3.6 ms	15.1 ± 3.8 ms	0.998 ± 0.35
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK4()	3.14 ± 0.11 ms	3.12 ± 0.095 ms	1.01 ± 0.048
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK5()	3.8 ± 0.15 ms	3.77 ± 0.13 ms	1.01 ± 0.054
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK6()	1.83 ± 0.1 ms	1.8 ± 0.081 ms	1.02 ± 0.072
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = false)	3.21 ± 0.38 ms	3.19 ± 0.36 ms	1.01 ± 0.16
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = true)	6.3 ± 4.8 ms	6.2 ± 4.9 ms	1.02 ± 1.1
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.0815 ± 0.0024 s	0.0804 ± 0.0019 s	1.01 ± 0.038
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.125 ± 0.0047 s	0.124 ± 0.004 s	1 ± 0.049
Simple Pendulum/OOP/Shooting(Tsit5())	0.594 ± 0.032 ms	0.588 ± 0.032 ms	1.01 ± 0.077
time_to_load	6.87 ± 0.045 s	6.89 ± 0.073 s	0.997 ± 0.012

Memory benchmarks

	master	4148d99...	master / 4148d99...
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK2()	0.389 M allocs: 0.0443 GB	0.389 M allocs: 0.0443 GB	1
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK3()	0.0436 M allocs: 4.88 MB	0.0436 M allocs: 4.88 MB	1
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK4()	15.7 k allocs: 1.65 MB	15.7 k allocs: 1.65 MB	1
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK5()	22.1 k allocs: 2.03 MB	22.1 k allocs: 2.03 MB	1
Simple Pendulum/IIP/BoundaryValueDiffEqMIRK.MIRK6()	12.8 k allocs: 1.05 MB	12.8 k allocs: 1.05 MB	1
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = false)	25.5 k allocs: 1.82 MB	25.5 k allocs: 1.82 MB	1
Simple Pendulum/IIP/MultipleShooting(10, Tsit5; grid_coarsening = true)	0.049 M allocs: 3.39 MB	0.049 M allocs: 3.39 MB	1
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = false)	0.553 M allocs: 0.0535 GB	0.553 M allocs: 0.0535 GB	1
Simple Pendulum/IIP/MultipleShooting(100, Tsit5; grid_coarsening = true)	0.833 M allocs: 0.0778 GB	0.833 M allocs: 0.0778 GB	1
Simple Pendulum/IIP/Shooting(Tsit5())	4.64 k allocs: 0.224 MB	4.64 k allocs: 0.224 MB	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK2()	0.89 M allocs: 0.984 GB	0.89 M allocs: 0.984 GB	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK3()	0.0932 M allocs: 24.8 MB	0.0932 M allocs: 24.8 MB	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK4()	0.0324 M allocs: 3.96 MB	0.0324 M allocs: 3.96 MB	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK5()	0.045 M allocs: 4.99 MB	0.045 M allocs: 4.99 MB	1
Simple Pendulum/OOP/BoundaryValueDiffEqMIRK.MIRK6()	25.3 k allocs: 2.17 MB	25.3 k allocs: 2.17 MB	1
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = false)	0.142 M allocs: 10.2 MB	0.142 M allocs: 10.2 MB	1
Simple Pendulum/OOP/MultipleShooting(10, Tsit5; grid_coarsening = true)	0.266 M allocs: 18.7 MB	0.266 M allocs: 18.7 MB	1
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = false)	2.52 M allocs: 0.279 GB	2.52 M allocs: 0.279 GB	1
Simple Pendulum/OOP/MultipleShooting(100, Tsit5; grid_coarsening = true)	3.82 M allocs: 0.404 GB	3.82 M allocs: 0.404 GB	1
Simple Pendulum/OOP/Shooting(Tsit5())	0.0373 M allocs: 1.69 MB	0.0373 M allocs: 1.69 MB	1
time_to_load	0.159 k allocs: 11.2 kB	0.159 k allocs: 11.2 kB	1