[mlir][IR] Make verifyDominanceOfContainedRegions iterative (#74428)

This commit refactors `verifyDominanceOfContainedRegions` to iterative
algorithms similar to https://reviews.llvm.org/D154925 to fix stack
overflow for deeply nested regions (e.g.
https://github.com/llvm/circt/issues/5316). There should be no
functional change except that this could result in slightly different
order of verification.