Deprecate plain string in execute and introduce `exec_driver_sql`

Deprecate plain string in execute and introduce `exec_driver_sql`

Execution of literal sql string is deprecated in the
:meth:`.Connection.execute` and a warning is raised when used stating
that it will be coerced to :func:`.text` in a future release.
To execute a raw sql string the new connection method
:meth:`.Connection.exec_driver_sql` was added, that will retain the previous
behavior, passing the string to the DBAPI driver unchanged.
Usage of scalar or tuple positional parameters in :meth:`.Connection.execute`
is also deprecated.

Fixes: #4848
Fixes: #5178
Change-Id: I2830181054327996d594f7f0d59c157d477c3aa9