This PR lets `_` be used in numeric literals as a separator. For
example, `1_000_000`, `0xff_ff` or `0b_10_11_01_00`. New lexical syntax:
```text
numeral10 : [0-9]+ ("_"+ [0-9]+)*
numeral2 : "0" [bB] ("_"* [0-1]+)+
numeral8 : "0" [oO] ("_"* [0-7]+)+
numeral16 : "0" [xX] ("_"* hex_char+)+
float : numeral10 "." numeral10? [eE[+-]numeral10]
```
Closes #6199
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