Upgrade a few dependencies to newer versions

Nick Mathewsonrequested to merge
nickm/arti:upgrade-dependencies into main

To find the dependencies that were candidates for a newer version, I ran cargo upgrade --dry-run --workspace --skip-compatible. Then I used cargo upgrade to find newer versions of those crates, when it was feasible to do so without breaking MSRV.

This branch upgrades rlimit, config, and tokio-utils.

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