docs: remove invariants (backport #22136)

[mergify]

Description

Refer to #22126

Summary by CodeRabbit

• Documentation
  • Enhanced clarity and structure of the module management system in the Cosmos SDK.
  • Expanded sections on application module interfaces and their roles.
  • Clear distinction between current practices and legacy interfaces.
  • Detailed explanations of the Manager structure and its methods.
  • Added references to source code for improved traceability.

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This is an automatic backport of pull request #22136 done by [Mergify](https://mergify.com).

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