Add prev_ds and prev_ds_nodash back to the standard macros and do not deprecate them

### Description

I believe it makes sense to move `prev_ds` and `prev_ds_nodash` macros back into the standard macros list and not to deprecate them. They are extremely useful macros and from what I can tell on the documentation page their is not an obvious way to replicate them (please correct me if I'm wrong!). Especially considering that similar newer macros such as `{{ prev_start_date_success }}` seem to be a more restrictive version of this, it would make sense to keep it I think.

### Use case/motivation

Use to easily get previous execution date of current dag

### Related issues

_No response_

### Are you willing to submit a PR?

- [x] Yes I am willing to submit a PR!

### Code of Conduct

- [x] I agree to follow this project's [Code of Conduct](https://github.com/apache/airflow/blob/main/CODE_OF_CONDUCT.md)

Start by locating Airflow's standard macro definitions and the documentation page for prev_ds and prev_ds_nodash. Check how these macros are currently marked for deprecation and find the related tests. Done means both macros are available as standard macros without deprecation treatment, with coverage confirming their previous-execution-date behavior.

Written by the indexing model from the issue text.