(webdriver): improvements to driver management

[christian-bromann]

Proposed changes

This patch makes some improvements to the driver management:

• it refactors the implementation and makes room for other browser setup implementations
• it makes WDIO testrunner to set up all browser and drivers before launching all workers

fixes #10861

Types of changes

• Bugfix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• Documentation update

Checklist

• I have read the CONTRIBUTING doc
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• I have added proper type definitions for new commands (if appropriate)

Further comments

n/a

Reviewers: @webdriverio/project-committers