feat: renamed subagent handoff flow to use yield instead of submit_result
- Renamed subagent completion flow from `submit_result` to `yield` across SDK tools, prompts, and docs. - Updated executor/task handling to require and parse `yield` calls, replacing legacy submit-result extraction and state flags. - Added `subagent-yield-reminder` and updated system prompts to require `yield` with `result.data` or `result.error`. - Renamed hidden-tool and registration plumbing to `yield`, including discovery helpers and renderer/test surface.
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