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Update LatexInlineDimensional unit formatter for Astropy 5.3

Duncan Macleod requested to merge github/fork/duncanmmacleod/unit-format-update into main

This PR updates the LatexInlineDimensional unit formatter to accommodate changes that will be introduced in Astropy 5.3.

The _latex_escape private method was removed from the relevant parent class, so this MR replaces that call with a manual version of the same logic, and updates some documentation.

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