Put framework modules to peerDependencies in new extensions

[bajtos]

As discussed several times in the past (most recently in #5927 (comment)), extensions should use framework modules from the target application via peerDependencies.

This PR is a spin-off from #5959 which is becoming too difficult to get landed because of merge conflicts. It brings two commits from the original PR:

• Document the best practice in "Creating components"
• Update CLI template

Please read #5959 for the original discussion around this proposal. We have reached consensus to follow this new direction, so I hope we can get this PR landed quickly.

Checklist

• DCO (Developer Certificate of Origin) signed in all commits
• npm test passes on your machine
• New tests added or existing tests modified to cover all changes
• Code conforms with the style guide
• API Documentation in code was updated
• Documentation in /docs/site was updated
• Affected artifact templates in packages/cli were updated
• Affected example projects in examples/* were updated

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