Refactor sysdb initialization

Change the way sysdbs are initialized. Make callers responsible for providing
the list of domains.
Remove the returned array of sysdb contexts, it was used only by sss_cache
and not really necessary there either as that tool can easily iterate the
domains.
Make sysdb ctx children of their respective domains.
Neither sysdb context nor domains are ever freed until a program is done so
there shouldn't be any memory hierarchy issue. As plus we simplify the code by
removing a destructor and a setter function.

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