Make serd_env_expand() always return a node if it is not relative

The old interface was potentially faster, because it avoided unnecessary
copies, but was annoying to use and problematic because nodes that don't need
expansion were indistinguishable from nodes that failed to expand (like those
that use undefined namespace prefixes).

In the grand scheme of things, the potential performance improvement isn't
worth it, and unexpected unexpanded nodes causes deep nightmarish problems, so
just make serd_env_expand() copy the input if it doesn't need expansion to make
the API simpler and safer.

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