Sanitize Record._elements (backport #3419)

[mergify]

This is an automatic backport of pull request #3419 done by Mergify.

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Original PR Body

This moves name sanitation a little earlier and ensures that the sanitized names are use more consistently throughout Chisel internals.

This fixes a bug in D/I where unsanitary names would lead to a crash.

Contributor Checklist

• [NA] Did you add Scaladoc to every public function/method?
• Did you add at least one test demonstrating the PR?
• Did you delete any extraneous printlns/debugging code?
• Did you specify the type of improvement?
• Did you add appropriate documentation in docs/src?
• Did you request a desired merge strategy?
• Did you add text to be included in the Release Notes for this change?

Type of Improvement

• Bugfix

Desired Merge Strategy

• Squash

Release Notes

Fixes a bug in D/I where unsanitary names would lead to a crash. It also makes the Printable output for Bundles and Records use the sanitary names which makes them better match the FIRRTL.

Reviewer Checklist (only modified by reviewer)

• Did you add the appropriate labels? (Select the most appropriate one based on the "Type of Improvement")
• Did you mark the proper milestone (Bug fix: 3.5.x, 3.6.x, or 5.x depending on impact, API modification or big change: 6.0)?
• Did you review?
• Did you check whether all relevant Contributor checkboxes have been checked?
• Did you do one of the following when ready to merge:
  • Squash: You/ the contributor Enable auto-merge (squash), clean up the commit message, and label with Please Merge.
  • Merge: Ensure that contributor has cleaned up their commit history, then merge with Create a merge commit.